Add BlueROV square mission and PX4 offboard control demo

README.md

@@ -1,145 +1,16 @@
 # Examples
 
-## BlueROV with ArduSub
+- [BlueROV with ArduSub](bluerov/README.md)
+- [Multi-vehicle simulation](multivehicle/README.md)
 
-### Quickstart
-
-We assume the ROS workspace is `~/workspaces/bluerov_ws`. Change the paths accordingly if needed.
-
-Clone the repositories:
-
-```bash
-cd ~/workspaces/bluerov_ws/src
-vcs import --recursive < examples/bluerov_ws.repos
-```
-
-> **Note:** `ml_models` is hosted on Hugging Face.
-> Install [Git LFS](https://git-lfs.com/) **before** importing.
-
-Build the minimal sim image first:
-
-```bash
-cd ~/workspaces/bluerov_ws/src/ardusub_sim
-./build.bash
-```
-
-Build the examples image with perception and mission-tree dependencies:
-
-```bash
-cd ~/workspaces/bluerov_ws/src/examples
-./build.bash
-```
-
-### Start the container
-
-#### Native Ubuntu with NVIDIA
-
-Install [Rocker](https://github.com/osrf/rocker), then run:
-
-```bash
-cd ~/workspaces/bluerov_ws/src/examples
-./run.bash bluerov_ws:humble
-```
-
-#### WSL 2 with WSLg
-
-```bash
-docker run --rm -it \
-  --gpus all \
-  --device=/dev/dxg \
-  --network=host \
-  --ipc=host \
-  -e DISPLAY="$DISPLAY" \
-  -e WAYLAND_DISPLAY="$WAYLAND_DISPLAY" \
-  -e XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" \
-  -e PULSE_SERVER="$PULSE_SERVER" \
-  -e NVIDIA_DRIVER_CAPABILITIES=all \
-  -e MESA_D3D12_DEFAULT_ADAPTER_NAME=NVIDIA \
-  -e LD_LIBRARY_PATH=/usr/lib/wsl/lib \
-  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
-  -v /mnt/wslg:/mnt/wslg \
-  -v /usr/lib/wsl:/usr/lib/wsl:ro \
-  -v ~/workspaces/bluerov_ws:/root/HOST/bluerov_ws \
-  bluerov_ws:humble
-```
-
-The WSL command exposes WSLg's X11/Wayland sockets and the `/dev/dxg` virtual
-GPU device, allowing Gazebo to use hardware-accelerated rendering.
-
-### Verify GPU rendering
-
-Inside the container, before launching Gazebo:
-
-```bash
-glxinfo -B | grep -E "OpenGL vendor|OpenGL renderer"
-```
-
-On native Linux, the renderer should identify the NVIDIA GPU. Under WSLg, it
-should mention D3D12 and the GPU. It should not report `llvmpipe`, which is
-software rendering.
-
-### Build the workspace
-
-Inside the container:
-
-```bash
-cd /root/HOST/bluerov_ws
-source /opt/ros/humble/setup.bash
-colcon build --symlink-install \
-  --packages-up-to bluerov_tasks bluerov_sim bb_worlds
-source install/setup.bash
-```
-
-### Demo: Square Mission
-
-The square mission is a control smoke test:
-
-1. Arm and enter `GUIDED`.
-2. Move 2 m forward.
-3. Move 2 m left.
-4. Move 2 m backward.
-5. Move 2 m right.
-
-Inside the container:
-
-```bash
-cd /root/HOST/bluerov_ws
-tmuxp load src/examples/bluerov_mission.yaml
-```
-
-### Demo: Bin Mission
+## BlueROV
 
 https://github.com/user-attachments/assets/6c262df8-bac6-492a-aef1-9e8cfc30d8a8
 
-```bash
-tmuxp load src/examples/bluerov_bin_mission.yaml
-```
-
-### Demo: Torpedo Mission
-
 https://github.com/user-attachments/assets/9a9c25c5-637a-403a-b34d-4048f9afb5e0
 
-```bash
-tmuxp load src/examples/bluerov_torpedo_mission.yaml
-```
-### Foxglove layouts
-
-Prebuilt Foxglove layouts for the Bin and Torpedo missions are available at
-[BumblebeeAS/controlkitv3](https://github.com/BumblebeeAS/controlkitv3/tree/main/foxglove_layouts).
-Import them into Foxglove Studio for a ready-made view of the relevant topics,
-making it easier to visualize and debug each mission.
-
-## Useful Commands
-
-```bash
-ros2 topic echo /bluerov/odom --once
-ros2 topic echo /mavros/state --once
-ros2 topic echo /mavros/local_position/pose --once
-ros2 topic echo /bluerov/controls/_action/feedback --once
-ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
-ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"
-```
+## Multi-vehicle
 
-## Documentation
+## Foxglove Layouts
 
-- [Architecture and conventions](docs/architecture.md)
+Import our [Foxglove layouts](https://github.com/BumblebeeAS/controlkitv3/tree/main/foxglove_layouts) for a ready-made view of the relevant topics and services, making it easier to visualize and debug each mission.

bluerov/README.md

@@ -0,0 +1,137 @@
+# BlueROV with ArduSub
+
+## Quickstart
+
+We assume the ROS workspace is `~/workspaces/bluerov_ws`. Change the paths accordingly if needed.
+
+Clone the repositories:
+
+```bash
+cd ~/workspaces/bluerov_ws/src
+vcs import --recursive < examples/bluerov_ws.repos
+```
+
+> **Note:** `ml_models` is hosted on Hugging Face.
+> Install [Git LFS](https://git-lfs.com/) **before** importing.
+
+Build the minimal sim image first:
+
+```bash
+cd ~/workspaces/bluerov_ws/src/ardusub_sim
+./build.bash
+```
+
+Build the examples image with perception and mission-tree dependencies:
+
+```bash
+cd ~/workspaces/bluerov_ws/src/examples
+./build.bash
+```
+
+## Start the container
+
+### Native Ubuntu with NVIDIA
+
+Install [Rocker](https://github.com/osrf/rocker), then run:
+
+```bash
+cd ~/workspaces/bluerov_ws/src/examples
+./run.bash bluerov_ws:humble
+```
+
+### WSL 2 with WSLg
+
+```bash
+docker run --rm -it \
+  --gpus all \
+  --device=/dev/dxg \
+  --network=host \
+  --ipc=host \
+  -e DISPLAY="$DISPLAY" \
+  -e WAYLAND_DISPLAY="$WAYLAND_DISPLAY" \
+  -e XDG_RUNTIME_DIR="$XDG_RUNTIME_DIR" \
+  -e PULSE_SERVER="$PULSE_SERVER" \
+  -e NVIDIA_DRIVER_CAPABILITIES=all \
+  -e MESA_D3D12_DEFAULT_ADAPTER_NAME=NVIDIA \
+  -e LD_LIBRARY_PATH=/usr/lib/wsl/lib \
+  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+  -v /mnt/wslg:/mnt/wslg \
+  -v /usr/lib/wsl:/usr/lib/wsl:ro \
+  -v ~/workspaces/bluerov_ws:/root/HOST/bluerov_ws \
+  bluerov_ws:humble
+```
+
+The WSL command exposes WSLg's X11/Wayland sockets and the `/dev/dxg` virtual
+GPU device, allowing Gazebo to use hardware-accelerated rendering.
+
+## Verify GPU rendering
+
+Inside the container, before launching Gazebo:
+
+```bash
+glxinfo -B | grep -E "OpenGL vendor|OpenGL renderer"
+```
+
+On native Linux, the renderer should identify the NVIDIA GPU. Under WSLg, it
+should mention D3D12 and the GPU. It should not report `llvmpipe`, which is
+software rendering.
+
+## Build the workspace
+
+Inside the container:
+
+```bash
+cd /root/HOST/bluerov_ws
+source /opt/ros/humble/setup.bash
+colcon build --symlink-install \
+  --packages-up-to bluerov_tasks bluerov_sim bb_worlds
+source install/setup.bash
+```
+
+## Demo: Square Mission
+
+The square mission is a control smoke test:
+
+1. Arm and enter `GUIDED`.
+2. Move 2 m forward.
+3. Move 2 m left.
+4. Move 2 m backward.
+5. Move 2 m right.
+
+Inside the container:
+
+```bash
+cd /root/HOST/bluerov_ws
+tmuxp load src/examples/bluerov_mission.yaml
+```
+
+## Demo: Bin Mission
+
+https://github.com/user-attachments/assets/6c262df8-bac6-492a-aef1-9e8cfc30d8a8
+
+```bash
+tmuxp load src/examples/bluerov_bin_mission.yaml
+```
+
+## Demo: Torpedo Mission
+
+https://github.com/user-attachments/assets/9a9c25c5-637a-403a-b34d-4048f9afb5e0
+
+```bash
+tmuxp load src/examples/bluerov_torpedo_mission.yaml
+```
+
+## Useful Commands
+
+```bash
+ros2 topic echo /bluerov/odom --once
+ros2 topic echo /mavros/state --once
+ros2 topic echo /mavros/local_position/pose --once
+ros2 topic echo /bluerov/controls/_action/feedback --once
+ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: true}"
+ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{custom_mode: 'GUIDED'}"
+```
+
+## Documentation
+
+- [Architecture and conventions](docs/architecture.md)

run.bash → bluerov/run.bash

@@ -8,7 +8,7 @@ set -e
 
 IMAGE_NAME="${1:-bluerov_ws:humble}"
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../.." && pwd)"
+WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../../.." && pwd)"
 
 rocker \
   --devices /dev/dri \

multivehicle/README.md

@@ -0,0 +1,36 @@
+# Multi-vehicle examples
+
+Missions and control demos built on
+[`multivehicle_sim`](https://github.com/BumblebeeAS/multivehicle_sim).
+
+## Launch files
+
+- BlueROV square mission: run `bluerov_tasks`'s tree launch directly
+  `ros2 launch bluerov_tasks bluerov_square_bt.launch.py` 
+- `boat_control.launch.py`: BlueBoat thrust mixer + LOS controller (+ optional mission node)
+- `px4_offboard.launch.py`: the `uav2_offboard` `offboard_node` action backend + the
+  `mission_planner_2` UAV2 offboard demo behaviour tree (`uav2_offboard_demo_main.py`)
+  driving it (takeoff → standoff → return → land). 
+
+## Setup
+
+```bash
+cd ~/mvsim_ws
+vcs import src < src/examples/multivehicle/examples.repos --recursive
+
+cd src/multivehicle_sim
+./build.bash
+
+cd ../examples/multivehicle
+./build.bash
+./run.bash multivehicle_examples:humble
+```
+
+Inside the container:
+
+```bash
+cd /root/HOST/mvsim_ws
+colcon build --symlink-install --packages-up-to multivehicle_examples microxrcedds_agent bb_robotx_dashboard
+source install/setup.bash
+tmuxp load src/examples/multivehicle/tmuxp/mvsim_debug.yaml
+```

multivehicle/build.bash

@@ -0,0 +1,22 @@
+#!/usr/bin/env bash
+
+set -e
+
+image_name=multivehicle_examples
+image_tag=humble
+
+if [ ! -f "docker/Dockerfile" ]; then
+    echo "Err: docker/Dockerfile not found. Run from src/examples/multivehicle."
+    exit 1
+fi
+
+if ! docker image inspect multivehicle_sim:humble >/dev/null 2>&1; then
+    echo "Err: base image multivehicle_sim:humble not found."
+    echo "Build it first from src/multivehicle_sim."
+    exit 1
+fi
+
+image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+docker build --rm -t $image_plus_tag -f docker/Dockerfile docker && \
+docker tag $image_plus_tag $image_name:$image_tag && \
+echo "Built $image_plus_tag and tagged as $image_name:$image_tag"

multivehicle/docker/Dockerfile

@@ -0,0 +1,20 @@
+FROM multivehicle_sim:humble
+
+SHELL ["/bin/bash", "-o", "pipefail", "-o", "errexit", "-c"]
+ENV DEBIAN_FRONTEND=noninteractive
+ARG HOME_DIR=/root
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-py-trees \
+    ros-humble-py-trees-ros \
+    ros-humble-tf-transformations && \
+    apt-get autoremove -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install --no-cache-dir --ignore-installed "transforms3d>=0.4" "numpy>=1.25,<2"
+RUN pip3 install --no-cache-dir mavsdk
+
+WORKDIR ${HOME_DIR}