Nightwing

Repository for an industrial-focused autonomous drone companion's code.

Setup

We leverage NVIDIA Isaac ROS with its packages and docker images for development and on-bot container runtime. Steps for setting up the development environment:

1. Follow NVIDIA Isaac ROS Environment Setup
2. Follow camera sensor specific Isaac ROS setup
   • Realsense
   • ZED 2
   • Hawk
3. Install other host dependencies

$ sudo apt install ros-humble-foxglove-bridge

4. Install XRCE-DDS Agent for PX4-Jetson ROS2 Communication. We will build it as part of our ROS2 workspace.

$ cd ~/ros2_ws/src
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git 

5. Install Nightwing repo

$ git clone https://github.com/Fragment-Robotics/nightwing.git

6. Drop into development docker containers and build.

$ cd src/isaac_ros_common
$ ./scripts/run_dev.sh ${ISAAC_ROS_WS}
$ colcon build --cmake-args '-DBUILD_TOOLS=ON'

7. Run an example launch to verify installation

$ cd ~/ros2_ws/ && source install/local_setup.bash
$ ros2 launch nightwing_example_package example_launch.py