Quick Start Guide - JOCIIIII/PX4-PILS-Runner GitHub Wiki

This quick start guide is written for Ubuntu 22.04 LTS environment. Some commands such as package installation may differ on other Linux distributions like Fedora.

• Install Docker and Docker Compose from the link below:
• https://docs.docker.com/engine/install/ubuntu/

sudo apt update && sudo apt install -y git wget unzip

• Clone this repository, JOCIIIII/PX4-PILS-RUNNER to your computer.

cd ~/
git clone https://github.com/jociiiii/PX4-PILS-Runner.git

• Download the ROS2 container image from GitLab.

• If you have already downloaded it through SITL-runner, you can skip the image download process.

• You need to login to GitLab first to download.

• Login to Docker GitLab and download the image using the provided GitLab login documentation.

docker login reg.iacsl.org

docker pull reg.iacsl.org/a4-vai/sils-container:humble-cuda12.6-tensorrt10.7-cudnn9.7

cd ~/PX4-PILS-Runner
./scripts/setup.sim.sh

• Download the Unreal Engine binary and place it as a folder named binary within the AirSim container workspace.
• The Unreal Engine binaries are for path planning and path following tests, and path planning, path following, and collision avoidance tests.
• The default binary is for path planning and path following tests.
• To run path following and collision avoidance tests, you need to rename the corresponding binary file folder to binary.

wget -P ~/Documents/A4VAI-PILS/AirSim \
--header="PRIVATE-TOKEN: <token>" https://git.iacsl.org/api/v4/projects/302/packages/generic/demo/1.0.0/demo_pf-ca.tar.gz       

wget -P ~/Documents/A4VAI-PILS/AirSim \
--header="PRIVATE-TOKEN: <token>" https://git.iacsl.org/api/v4/projects/302/packages/generic/demo/1.0.0/demo_pp-pf.tar.gz

tar -xvzf ~/Documents/A4VAI-PILS/AirSim/demo_pf-ca.tar.gz -C ~/Documents/A4VAI-PILS/AirSim
tar -xvzf ~/Documents/A4VAI-PILS/AirSim/demo_pp-pf.tar.gz -C ~/Documents/A4VAI-PILS/AirSim

mv ~/Documents/A4VAI-PILS/AirSim/demo_world ~/Documents/A4VAI-PILS/AirSim/binary

• Jetson Orin Nano 8GB or higher
• Jetpack 6.2

sudo apt update && sudo apt install -y git wget netplan.io 

docker login reg.iacsl.org

docker pull reg.iacsl.org/a4-vai/pils-container:humble-cuda12.6-tensorrt10.7-cudnn9.7

• Clone this JOCIIIII/PX4-PILS-RUNNER GitHub repository to your Jetson.

cd ~/
git clone https://github.com/jociiiii/PX4-PILS-Runner.git

cd ~/PX4-PILS-Runner
./scripts/setup.onboard.sh

The default path for the ROS2 container workspace is ~/Documents/A4VAI-PILS/ROS2

-Hardware Diagram

• Simulator PC x1
• Jetson Orin Nano 8GB x1
• USB to Ethernet Adapter (Min 100MB/s) x1
• Ethernet Cable x1

• Check the USB to Ethernet Adapter interface name on PC using ip a command:
  • Interface name : enx-----
  • Example : enxc84d44261181

• Run the following command in terminal

sudo nano /etc/netplan/01-usb-ethernet.yaml

• Add the following content in nano editor, modify the interface name as needed, save with Ctrl+x, y, enter:

network:
  version: 2
  ethernets:
    enxc84d44261181:
      dhcp4: no
      addresses:
        - 192.168.50.1/24

• Apply changes with the following command

sudo netplan apply

• Check the USB to Ethernet Adapter interface name on Jetson using ip a command:
  • Interface name : en---
  • Example : enP8p1s0

• Run the following command in termina

sudo nano /etc/netplan/01-usb-ethernet.yaml

• Add the following content in nano editor, modify the interface name as needed, save with Ctrl+x, y, enter

network:
  version: 2
  ethernets:
    enP8p1s0:
      dhcp4: no
      addresses:
        - 192.168.50.2/24

• Apply changes with the following command

sudo netplan apply

ping 192.168.50.2 on PC ping 192.168.50.1 on Jetson

• Run the following commands in PC terminal

ssh-keygen -t rsa -b 4096
ssh-copy-id <jetson username>@192.168.50.2
#ex  ssh-copy-id [email protected]

• All preparations are complete. Finally, allow containers to display GUI programs.

• Then, start the simulation using the commands below. Required docker images will be automatically downloaded.

• By default, run the simulation from the simulator computer.

• PILS remotely controls the target board from the simulator computer.

# You only need to run xhost + once per reboot.
xhost +
cd ~/PX4-PILS-Runner
# path following unit test
./scripts/run.sh sim gazebo-classic-airsim-pils test unit-test path-following

# path planning unit test
./scripts/run.sh sim gazebo-classic-airsim-pils test unit-test path-planning

# collision avoidance unit test
./scripts/run.sh sim gazebo-classic-airsim-pils test unit-test collision-avoidance


# path planning, path following integration test
./scripts/run.sh sim gazebo-classic-airsim-pils test integration-test pp-pf-integration

# path following collision avoidance integration test
./scripts/run.sh sim gazebo-classic-airsim-pils test integration-test pf-ca-integration

• You can stop the simulation with the following command

cd ~/PX4-PILS-Runner
./scripts/run.sh sim gazebo-classic-airsim-pils stop