Apurva/satellite

.env

@@ -33,8 +33,13 @@ ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_peg
 # Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
 ISAAC_SIM_USE_STANDALONE="true" # "true" or "false"
 # Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
-ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
-PLAY_SIM_ON_START="false"
+ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_degraded_gps_launch_script.py"
+PLAY_SIM_ON_START="true"
+USE_DEGRADED_GPS="true"
+GPS_DEGRADATION_SCENARIO="urban"
+GPS_PACKAGES_DIR="/home/ubuntu/Downloads/gps_packages"
+CITY_SCENE_DIR="/home/ubuntu/Downloads/CCity_Building_Set_1"
+PUBLISH_RAW_ROS_GPS="true"
 
 # ===============================================
 
@@ -49,7 +54,7 @@ ROBOT_NAME_MAP_CONFIG_FILE="default_robot_name_map.yaml"  # Determines how to se
 
 URDF_FILE="robot_descriptions/iris/urdf/iris_with_sensors.pegasus.robot.urdf"
 
-DEBUG_RVIZ="false"  # "true" or "false". If true, launches RViz alongside the robot via desktop_bringup/robot.launch.xml.
+DEBUG_RVIZ="true"  # "true" or "false". If true, launches RViz alongside the robot via desktop_bringup/robot.launch.xml.
 
 # offboard API streaming out. this is so that ports don't conflict for multi-agent FCU communication. 
 OFFBOARD_BASE_PORT=14540

AGENTS.md

@@ -337,6 +337,7 @@ Each major component has its own Docker container:
 - Main compose file: `docker-compose.yaml` (includes all component compose files)
 - Environment variables: top-level [`.env`](.env) (image tags, `VERSION`, `NUM_ROBOTS`, `ROBOT_NAME_MAP_CONFIG_FILE`, `ISAAC_SIM_SCRIPT_NAME`, `AUTONOMY_ROLE`, etc.)
 - Per-container shell init: [`robot/docker/.bashrc`](robot/docker/.bashrc) — resolves `ROBOT_NAME` and `ROS_DOMAIN_ID` at startup (see Multi-Robot Configuration below)
+- Isaac Sim standalone scripts run inside a tmux shell, so Python dependency paths must also survive the [`simulation/isaac-sim/docker/.bashrc`](simulation/isaac-sim/docker/.bashrc) recomputation of `ISAAC_SIM_PYTHONPATH`; setting the Compose environment alone is insufficient.
 
 **Networking:** Custom bridge network (172.31.0.0/24) for inter-container communication.
 

common/ros_packages/desktop_bringup/rviz/robot.rviz

@@ -63,6 +63,19 @@ Visualization Manager:
       Plane Cell Count: 100
       Reference Frame: <Fixed Frame>
       Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: GPS Degradation Quality
+      Namespaces:
+        gps_degradation: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: gps/degradation_marker
+      Value: true
     - Class: rviz_default_plugins/TF
       Enabled: true
       Filter (blacklist): ""
@@ -254,7 +267,7 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: sensors/front_stereo/right/image_rect
           Value: true
         - Class: rviz_default_plugins/Image
@@ -268,7 +281,7 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: sensors/front_stereo/right/depth_ground_truth
           Value: true
         - Alpha: 1
@@ -375,7 +388,7 @@ Visualization Manager:
             Depth: 5
             Durability Policy: Volatile
             History Policy: Keep Last
-            Reliability Policy: Reliable
+            Reliability Policy: Best Effort
             Value: perception/stereo_image_proc/point_cloud
           Use Fixed Frame: true
           Use rainbow: true

gcs/docker/Dockerfile.gcs

@@ -21,8 +21,17 @@ RUN apt-get -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngrad
     ros-jazzy-rosbag2-storage-mcap ros-jazzy-plotjuggler \
     && rm -rf /var/lib/apt/lists/*
 
-# Install Python dependencies
+# setuptools must be <80 for Jazzy: https://github.com/ros2/ros2/issues/1702#issuecomment-3007929996
+# Pin it first so subsequent installs see the right version.
+RUN pip3 install --break-system-packages --force-reinstall "setuptools==79.0.1"
+
+# Install Python dependencies.
+# --prefer-binary avoids source compilation failures (lxml, scipy).
+# --timeout / --retries guard against transient network issues.
 RUN pip3 install --break-system-packages \
+    --prefer-binary \
+    --timeout 120 \
+    --retries 5 \
     empy \
     future \
     lxml \
@@ -35,8 +44,6 @@ RUN pip3 install --break-system-packages \
     pymavlink \
     pyyaml \
     requests \
-    # setup tools must be <80 for Jazzy https://github.com/ros2/ros2/issues/1702#issuecomment-3007929996
-    setuptools==79.0.1 \
     six \
     toml \
     scipy \

gcs/docker/gcs-base-docker-compose.yaml

@@ -11,7 +11,7 @@ services:
         - *gcs_image
     command: >
       bash -c "
-      ssh service restart;
+      service ssh restart;
       python3 /root/AirStack/gcs/foxglove_extensions/install.py;
       python3 /root/AirStack/gcs/foxglove_extensions/render_layout.py;
       tmux new -d -s bringup;
@@ -20,14 +20,6 @@ services:
       fi;
       sleep infinity"
     # Interactive shell
-    deploy:
-      # let it use the GPU
-      resources:
-        reservations:
-          devices:
-            - capabilities: [gpu]
-              count: 1
-              driver: nvidia
     entrypoint: ''
     environment:
       - AUTOLAUNCH=${AUTOLAUNCH:-false}
@@ -65,4 +57,4 @@ services:
       - ../../common/fastdds.xml:/root/AirStack/gcs/ros_ws/src/fastdds.xml
       - ../ros_ws:/root/AirStack/gcs/ros_ws:rw
       # bags
-      - ../bags:/bags:rw
+      - ../bags:/bags:rw

robot/ros_ws/flight_monitor.py

@@ -0,0 +1,231 @@
+#!/usr/bin/env python3
+"""
+Flight monitor — logs drone position, GPS degradation state, arm state, and
+navigation phase to CSV and prints a live formatted console table.
+
+Subscribes (domain 0, GCS bridge):
+  /robot_1/gps/degradation_state   Float32MultiArray
+  /robot_1/sensors/gps             NavSatFix  (raw Pegasus GPS → PX4)
+  /robot_1/sensors/gps_degraded    NavSatFix  (OU-corrupted GPS → PX4)
+
+Subscribes (domain 1, robot):
+  /robot_1/interface/mavros/state            State
+  /robot_1/interface/mavros/local_position/odom  Odometry
+  /robot_1/interface/mavros/global_position/global NavSatFix
+
+Run inside robot container:
+    docker exec -it airstack-robot-desktop-1 bash -lc \\
+        'ROS_DOMAIN_ID=0 python3 /root/AirStack/robot/ros_ws/flight_monitor.py'
+
+CSV is written to /tmp/flight_<timestamp>.csv
+"""
+from __future__ import annotations
+import csv, math, os, threading, time
+from datetime import datetime
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile, ReliabilityPolicy, DurabilityPolicy, HistoryPolicy
+from std_msgs.msg import Float32MultiArray
+from sensor_msgs.msg import NavSatFix
+from nav_msgs.msg import Odometry
+from mavros_msgs.msg import State
+
+# ── QoS profiles ─────────────────────────────────────────────────────────────
+SENSOR_QOS = QoSProfile(
+    depth=1,
+    reliability=ReliabilityPolicy.BEST_EFFORT,
+    durability=DurabilityPolicy.VOLATILE,
+    history=HistoryPolicy.KEEP_LAST,
+)
+RELIABLE_QOS = QoSProfile(
+    depth=10,
+    reliability=ReliabilityPolicy.RELIABLE,
+    durability=DurabilityPolicy.VOLATILE,
+)
+
+# ── State name maps ───────────────────────────────────────────────────────────
+GPS_STATE   = {0:"OPEN_SKY", 1:"DEGRADED", 2:"MARGINAL", 3:"DENIED", 4:"RECOVERY"}
+SYS_STATUS  = {0:"UNINIT", 1:"BOOT", 2:"CALIBRATING", 3:"STANDBY",
+               4:"ACTIVE", 5:"CRITICAL", 6:"EMERGENCY", 7:"POWEROFF"}
+EARTH_R     = 6_371_000.0
+
+def haversine_m(lat1, lon1, lat2, lon2):
+    dlat = math.radians(lat2 - lat1)
+    dlon = math.radians(lon2 - lon1)
+    mlat = math.radians((lat1 + lat2) / 2)
+    return math.sqrt((EARTH_R * dlat)**2 + (EARTH_R * math.cos(mlat) * dlon)**2)
+
+
+class FlightMonitor(Node):
+    def __init__(self, csv_writer):
+        super().__init__("flight_monitor")
+        self._w  = csv_writer
+        self._t0 = time.monotonic()
+        self._lock = threading.Lock()
+
+        # ── live data stores ──────────────────────────────────────────────────
+        self._state: State | None          = None
+        self._odom:  Odometry | None       = None
+        self._gps_raw:  NavSatFix | None   = None
+        self._gps_deg:  NavSatFix | None   = None
+        self._gps_mav:  NavSatFix | None   = None
+        self._deg_arr:  list | None        = None   # Float32MultiArray.data
+
+        # All on domain 0 (GCS bridge passes everything through)
+        self.create_subscription(Float32MultiArray,
+            "/robot_1/gps/degradation_state", self._cb_deg_state, RELIABLE_QOS)
+        self.create_subscription(NavSatFix,
+            "/robot_1/sensors/gps",         self._cb_raw,     SENSOR_QOS)
+        self.create_subscription(NavSatFix,
+            "/robot_1/sensors/gps_degraded", self._cb_deg,    SENSOR_QOS)
+        self.create_subscription(NavSatFix,
+            "/robot_1/interface/mavros/global_position/global",
+            self._cb_mav_gps, SENSOR_QOS)
+        self.create_subscription(State,
+            "/robot_1/interface/mavros/state", self._cb_state, RELIABLE_QOS)
+        self.create_subscription(Odometry,
+            "/robot_1/interface/mavros/local_position/odom",
+            self._cb_odom, SENSOR_QOS)
+
+        self.create_timer(1.0, self._print_row)
+        self.get_logger().info("Flight monitor started. Writing to CSV…")
+
+    # ── callbacks ─────────────────────────────────────────────────────────────
+
+    def _cb_deg_state(self, msg: Float32MultiArray):
+        with self._lock:
+            self._deg_arr = list(msg.data) if len(msg.data) >= 9 else None
+
+    def _cb_raw(self, msg: NavSatFix):
+        with self._lock: self._gps_raw = msg
+
+    def _cb_deg(self, msg: NavSatFix):
+        with self._lock: self._gps_deg = msg
+
+    def _cb_mav_gps(self, msg: NavSatFix):
+        with self._lock: self._gps_mav = msg
+
+    def _cb_state(self, msg: State):
+        with self._lock: self._state = msg
+
+    def _cb_odom(self, msg: Odometry):
+        with self._lock: self._odom = msg
+
+    # ── periodic log ──────────────────────────────────────────────────────────
+
+    def _print_row(self):
+        with self._lock:
+            t   = time.monotonic() - self._t0
+            st  = self._state
+            od  = self._odom
+            raw = self._gps_raw
+            deg = self._gps_deg
+            mav = self._gps_mav
+            arr = self._deg_arr
+
+        # ── extract values with safe defaults ─────────────────────────────────
+        armed     = st.armed          if st else False
+        mode      = st.mode           if st else "?"
+        sys_s     = st.system_status  if st else 0
+        sys_name  = SYS_STATUS.get(sys_s, str(sys_s))
+
+        # Local ENU position (map frame, relative to takeoff)
+        x = od.pose.pose.position.x if od else 0.0
+        y = od.pose.pose.position.y if od else 0.0
+        z = od.pose.pose.position.z if od else 0.0
+
+        # Velocity
+        vx = od.twist.twist.linear.x if od else 0.0
+        vy = od.twist.twist.linear.y if od else 0.0
+        vz = od.twist.twist.linear.z if od else 0.0
+        speed = math.sqrt(vx**2 + vy**2 + vz**2)
+
+        # GPS degradation
+        gps_state_id   = int(arr[0])   if arr else -1
+        gps_state_name = GPS_STATE.get(gps_state_id, "?") if arr else "NO_DATA"
+        n_los   = int(arr[1])          if arr else 0
+        hdop    = float(arr[2])        if arr else 0.0
+        vdop    = float(arr[3])        if arr else 0.0
+        eph_m   = float(arr[4])        if arr else 0.0
+        epv_m   = float(arr[5])        if arr else 0.0
+        dlat    = float(arr[6])        if arr else 0.0
+        dlon    = float(arr[7])        if arr else 0.0
+        dalt    = float(arr[8])        if arr else 0.0
+
+        # Horizontal position error injected (raw vs degraded GPS in metres)
+        horiz_err = 0.0
+        if raw and deg and raw.latitude != 0:
+            horiz_err = haversine_m(raw.latitude, raw.longitude,
+                                     deg.latitude, deg.longitude)
+        vert_err = abs(deg.altitude - raw.altitude) if (deg and raw) else 0.0
+
+        # PX4 EKF position (MAVROS global → lat/lon)
+        px4_lat = mav.latitude  if mav else 0.0
+        px4_lon = mav.longitude if mav else 0.0
+        px4_alt = mav.altitude  if mav else 0.0
+
+        # ── console output ────────────────────────────────────────────────────
+        arm_str = "ARMED  " if armed else "disarmd"
+        color = {
+            "OPEN_SKY": "\033[92m", "DEGRADED": "\033[93m",
+            "MARGINAL": "\033[33m", "DENIED":   "\033[91m",
+            "RECOVERY": "\033[94m", "NO_DATA":  "\033[90m",
+        }.get(gps_state_name, "\033[0m")
+        reset = "\033[0m"
+
+        print(
+            f"[{t:7.1f}s] {arm_str} | {mode:<12} | sys={sys_name:<10} | "
+            f"ENU=({x:6.1f},{y:6.1f},{z:5.1f})m spd={speed:.1f}m/s | "
+            f"{color}GPS:{gps_state_name:<9}{reset} LOS={n_los:2d} "
+            f"HDOP={hdop:.2f} EPH={eph_m:.1f}m | "
+            f"Δhoriz={horiz_err:.2f}m Δalt={dalt:+.2f}m"
+        )
+
+        # ── CSV row ───────────────────────────────────────────────────────────
+        self._w.writerow([
+            f"{t:.2f}", int(armed), mode, sys_s, sys_name,
+            f"{x:.3f}", f"{y:.3f}", f"{z:.3f}", f"{speed:.3f}",
+            gps_state_id, gps_state_name,
+            n_los, f"{hdop:.3f}", f"{vdop:.3f}",
+            f"{eph_m:.3f}", f"{epv_m:.3f}",
+            f"{dlat:.8f}", f"{dlon:.8f}", f"{dalt:.4f}",
+            f"{horiz_err:.4f}", f"{vert_err:.4f}",
+            f"{px4_lat:.8f}", f"{px4_lon:.8f}", f"{px4_alt:.3f}",
+        ])
+
+
+def main():
+    rclpy.init()
+
+    stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    csv_path = f"/tmp/flight_{stamp}.csv"
+    fh = open(csv_path, "w", newline="")
+    writer = csv.writer(fh)
+    writer.writerow([
+        "t_s", "armed", "mode", "sys_status_id", "sys_status",
+        "x_m", "y_m", "z_m", "speed_ms",
+        "gps_state_id", "gps_state",
+        "n_los", "hdop", "vdop", "eph_m", "epv_m",
+        "delta_lat", "delta_lon", "delta_alt_m",
+        "actual_horiz_err_m", "actual_vert_err_m",
+        "px4_lat", "px4_lon", "px4_alt_m",
+    ])
+
+    print(f"\n[flight_monitor] Logging to {csv_path}")
+    print(f"{'Time':>8} | {'Arm':7} | {'Mode':12} | {'System':10} | {'ENU Position':30} | {'GPS State':35} | {'Error':25}")
+    print("-" * 130)
+
+    node = FlightMonitor(writer)
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        fh.close()
+        print(f"\n[flight_monitor] CSV saved → {csv_path}")
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()