Integrate gps of robot from isaacsim to wintak (#246)

* updating domain bridge to stream gps from robots to GCS

* updating robot gps topic naming

* adding docs for using TAK features

* adding demo config

* Updating the GCS setup to a script and project config files and creds pull from airlab-storage

* updating script for GCS setup

* updating dev files

* ros2cot_agent.py working

* ros2cot_agent in launch with mqtt

* docker setup with gcs_bringup and ros2cot_agent

* updating setup.py for ros2tak_tools

* cleaning demo_config.yaml

* updating ros2tak_tools

* successful build

* Update setup.py

* updating the tak_publisher.py and tak_subscriber.py to send and receive from the TAK chat

* adding tak_subscriber to the tak.launch.xml

* updating dev commands

* adding helper module

* adding chat2ros_agent.py for sending commands

* one file for all the COT messages

* updating docs

* updating docs

* refactoring and modularizing files

* adding tak_helper.py

* ros2cot_agent.py and chat2ros_agent.py working and integrated to tak.launch.xml

* docs for debugging mqtt

* setup gcs errors fix

* setup gcs validation

* Added straps_msgs submodule under common/ros_packages

* adding ROS_DOMAIN_ID

* updating casevac related docs and its CasualtyMeta for array

* adding straps_msgs

* refactor / Clean

* Casualty assessment

* Casualty assessment in TAK

* dockerfile update with sphinx in GCS

* Adding ROS_DOMAIN_ID

* cleaning docker-compose.yaml

* fixing ground-control-station-base-docker-compose.yaml

* validation on triage

* launch just the ground-control-station container:

* removing tak-docker-compose.yaml

* updating demo_config.yaml for gps_streaming

* refactoring setup_ground_control_station.sh

* updating domain_bridge.yaml and gcs Ros domain ID

* launch.sh and shutdown.sh script for airstack

* refactor setup_ground_control_station.sh

* documenting and cleaning

* aesthetics

* aesthetics colored

* Change relative paths to absolute paths from script

* Add pics, add .gitignore

* Clean dockerfile

* Add git hook to configure.sh

* Clean up script

* Add comment

* Remove ros domain id from docker env

* Remove straps msgs

---------

Co-authored-by: adi <[email protected]>
Co-authored-by: dtc@dtc-legion <dtc@dtc-legion>
Co-authored-by: Andrew Jong <[email protected]>

Author: 4 people

.env

@@ -1,10 +1,10 @@
 # This top-level .env file under AirStack/ defines variables that are propagated through docker-compose.yaml
 PROJECT_NAME="airstack"
 # auto-generated from git commit hash
-DOCKER_IMAGE_TAG="3f238b1"
+DOCKER_IMAGE_TAG="008839f"
 # can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 DEFAULT_ISAAC_SCENE="omniverse://airlab-storage.andrew.cmu.edu:8443/Projects/AirStack/AFCA/fire_academy_faro_with_sky.scene.usd"
 PLAY_SIM_ON_START="true"
 # the file under robot/docker/ that contains the robot's environment variables
-ROBOT_ENV_FILE_NAME="robot.env"
+ROBOT_ENV_FILE_NAME="robot.env"

common/ros_packages/straps_msgs

@@ -0,0 +1 @@
+Subproject commit 290987632f7486bca099f5552f49f4f9dd100112

configure.sh

@@ -56,3 +56,10 @@ read -r -p "API Token: " API_TOKEN
 if [ ! -z "${API_TOKEN}" ]; then
     sed "s/PASTE-YOUR-API-TOKEN/$API_TOKEN/g" $OMNI_PASS_SOURCE > $OMNI_PASS_DESTINATION
 fi
+
+# Git Hooks
+echo -e "${BOLDCYAN}3. Setting up Git Hooks${ENDCOLOR}"
+cp ${SCRIPT_DIR}/git-hooks/docker-versioning/update-docker-image-tag.pre-commit ${SCRIPT_DIR}/.git/hooks/pre-commit
+
+
+echo -e "${BOLDCYAN}Setup Complete${ENDCOLOR}"

docs/getting_started.md

@@ -75,13 +75,7 @@ docker compose push
 ## Launch
 
 ```bash
-xhost +  # allow docker access to X-Server
-
-# Make sure you are in the AirStack directory.
-
-# Start docker compose services. This launches Isaac Sim and the robots.
-#  You can append `--scale robot=[NUM_ROBOTS]` for more robots, default is 1
-docker compose up -d
+./launch.sh # This will launch the docker containers, isaac sim, and WinTAK
 ```
 
 This will automatically launch and play the Isaac scene specified under `AirStack/.env` (default is the Fire Academy).
@@ -99,5 +93,5 @@ You can also switch to `Fixed Trajectory` mode and hit `Publish` on the bottom r
 To shutdown and remove docker containers:
 
 ```bash
-docker compose down
+./shutdown.sh # This will stop and remove the docker containers, isaac sim, and WinTAK
 ```

docs/ground_control_station/asset/TAK_ROS_Arch.png

@@ -0,0 +1,87 @@
+# ROS2 CASEVAC Agent
+
+## Overview
+ROS2 CASEVAC Agent is a service that bridges ROS2 casualty information to TAK (Tactical Assault Kit) systems using MQTT as the transport layer. The agent subscribes to ROS topics containing casualty metadata and images, converts this information into CoT (Cursor on Target) format, and publishes it to an MQTT broker for TAK systems to consume.
+
+## Features
+- Subscribes to ROS casualty metadata and image topics
+- Converts casualty information into standard CoT format with ZMIST fields
+  - Z: Zap Number - Unique casualty identifier
+  - M: Mechanism of Injury
+  - I: Injuries Sustained
+  - S: Signs and Symptoms
+  - T: Treatments Rendered
+- Tracks multiple casualties simultaneously
+- Handles various injury types and severity levels
+- Transmits data over MQTT to TAK systems
+
+## Installation
+
+### Prerequisites
+- ROS2 (tested with Foxy/Humble)
+- Python 3.8+
+- paho-mqtt
+- PyTAK
+
+### Dependencies
+```bash
+pip install paho-mqtt pytak pyyaml
+```
+
+## Configuration
+Create a YAML configuration file with the following structure:
+
+```yaml
+project:
+  name: your_project_name
+
+services:
+  host: your_host_ip
+  mediator:
+    ros2casevac_agent:
+      topic_name: to_tak  # MQTT topic name for CoT messages
+      ros_casualty_meta_topic_name: '/casualty/meta'  # ROS topic for casualty metadata
+      ros_casualty_image_topic_name: '/casualty/image'  # ROS topic for casualty images
+
+mqtt:
+  host: mqtt_broker_ip
+  port: mqtt_broker_port
+  username: mqtt_username
+  password: mqtt_password
+```
+
+## Usage
+Run the agent with a configuration file:
+
+```bash
+ros2 run ros2tak_tools ros2casevac_agent --config path/to/your/config.yaml
+```
+
+## Message Types
+The agent expects the following ROS message types:
+- `airstack_msgs/CasualtyMeta`: Contains casualty metadata including:
+  - GPS coordinates
+  - Trauma assessments (head, torso, extremities)
+  - Vital signs (heart rate, respiratory rate)
+  - Critical conditions (hemorrhage, respiratory distress)
+  - Alertness indicators (ocular, verbal, motor)
+
+## How It Works
+1. The agent subscribes to the ROS topic for casualty metadata
+2. When new data is received, it updates an internal casualty tracking object
+3. If GPS data is available, it generates a CoT event in XML format
+4. The CoT event is published to the configured MQTT topic
+5. TAK systems subscribed to the MQTT topic receive and display the casualty information
+
+## Customization
+The code supports several enum types for different injury categories:
+- `TraumaType`: Different body regions (head, torso, extremities)
+- `TraumaSeverity`: Levels of trauma (normal, wound, amputation)
+- `OcularAlertness`: Eye response states
+- `AlertnessLevel`: Verbal and motor response states
+- `VitalType`: Types of vital signs
+- `ConditionType`: Critical conditions
+- `ConditionStatus`: Presence/absence of conditions
+
+## Author
+Aditya Rauniyar ([email protected])

docs/ground_control_station/asset/aerolens.ai/find.png

@@ -0,0 +1,44 @@
+# Aerolens.ai - Talk to your robots
+
+This configuration file defines the parameters for the `chat2ros_agent`, which connects to an MQTT topic, filters messages, and routes queries through ROS topics.
+```yaml
+chat2ros_agent:
+  mqtt_subcribe_topic: aerolens-ai  # Topic name at MQTT for the subscriber service that sends COT messages subscribed from the TAK server.
+  ros_query_text_topic: '/query/text'  # ROS Topic name to publish the chat queries.
+  ros_query_response_topic: '/query/response'  # ROS Topic name to publish the chat responses.
+  filter_name: <project>-operator
+```
+
+
+## Parameters
+
+- **`mqtt_subscribe_topic`** (`aerolens-ai`):  
+  The MQTT topic where messages containing COT data are received.
+
+- **`ros_query_text_topic`** (`/query/text`):  
+  The ROS topic where filtered queries are published.
+
+- **`ros_query_response_topic`** (`/query/response`):  
+  The ROS topic where responses to the queries are published.
+
+- **`filter_name`** (`dsta-operator`):  
+  A filter applied to incoming messages, selecting only those where `filter_messages.name` matches this value.
+
+## Workflow
+
+1. The service subscribes to the MQTT topic (`aerolens-ai`).
+2. It filters messages based on `filter_name` (`<project>-operator`).
+3. The extracted query is published to `<robot_name>/query/text`.
+4. The response to the query is expected on `<robot_name>/query/response`.
+
+This enables seamless integration between an MQTT-based message broker and ROS for structured communication.
+
+## Commands:
+
+![Command Center](../asset/aerolens.ai/help.png)
+
+`help` - Display the help message.
+
+![Command Center](../asset/aerolens.ai/find.png)
+
+`robot <robot_name> find <object>` - Find an object using the robot.

docs/ground_control_station/asset/aerolens.ai/help.png

@@ -13,27 +13,17 @@ WinTAK is setup as auto start on boot and connects to Airlabs TAK-Server. Its ru
 
 ![Setup](asset/setup.png)
 
-1. Set your `ANDREWID` as an environment variable.
+Run the following command from the setup folder 
 ```bash
-export ANDREWID=<your_andrew_id>
-```
-2. Run the following commands to setup WinTAK running over Windows VirtualBox.
-```bash
-sudo mkdir -p "$HOME/vmware"
-sudo chown -R $USER:$USER "$HOME/vmware"
-sudo chmod -R 755 "$HOME/vmware"
-sudo rsync --progress -avz ${ANDREWID}@airlab-storage.andrew.cmu.edu:/volume4/dsta/atak/setup/ "$HOME/vmware"
-sudo dpkg -i "$HOME/vmware/virtualbox-7.1_7.1.6-167084~Ubuntu~jammy_amd64.deb"
-sudo apt-get install -f
-sudo /sbin/vboxconfig
-VBoxManage import "$HOME/vmware/Windows11.ova" --vsys 0 --vmname "WinTAK"
-
-```
-3. Run WinTAK using the following commands.
-```bash
-VBoxManage startvm "WinTAK"
+# Move to the directory:
+cd ground_control_station/setup
+# Execute the script
+./setup_ground_control_station.sh
 ```
 
 NOTE: If it asks to reset the password, please reset to current password.
 
-![WinTAK](asset/WinTAK_on_windows_virtualbox_vm.png)
+![WinTAK](asset/WinTAK_on_windows_virtualbox_vm.png)
+
+## Know more about TAK using the youtube link below:
+[![Video Title](https://img.youtube.com/vi/fiBt0wEiKh8/0.jpg)](https://www.youtube.com/watch?v=fiBt0wEiKh8&t=1s)

docs/ground_control_station/asset/drone_australia_zoomed_in.png

@@ -0,0 +1,34 @@
+## The TAK Architecture looks like follows:
+![TAK Architecture](../asset/TAK_ROS_Arch.png)
+
+## Note: Please check out the config file at [config.yaml](../../../ground_control_station/ros_ws/src/ros2tak_tools/config/demo_config.yaml) to understand further on how things are setup.
+
+## Learn how to use the TAK features:
+### 1. Sending Robot Query from the TAK Chat.
+[![Watch the video](https://img.youtube.com/vi/6YCHd70mCUY/0.jpg)](https://www.youtube.com/watch?v=6YCHd70mCUY&list=PLpJxwrRy4QbtVD3XxVzg3CAsm-A279d28&index=2)
+
+### 2. Displaying automated Casevac icons from the casualty inspections:
+[![Watch the video](https://img.youtube.com/vi/J577FWRaipg/0.jpg)](https://www.youtube.com/watch?v=J577FWRaipg&list=PLpJxwrRy4QbtVD3XxVzg3CAsm-A279d28&index=1)
+
+# Debugging tips: 
+
+launch just the ground-control-station container:
+```bash
+docker compose --profile deploy up ground-control-station
+````
+
+## 1. Running docker in interactive mode:
+```bash
+docker exec -it ground-control-station /bin/bash
+```
+
+## 2. Checking if the messages are being received by the MQTT broker:
+
+```bash
+mosquitto_sub -h localhost -t to_tak -u airlab # Default topic for sending messages to TAK
+mosquitto_sub -h localhost -t healthcheck -u airlab # Default topic for sending healthcheck messages
+```
+
+
+
+

docs/ground_control_station/asset/drone_australia_zoomed_out.png

@@ -5,4 +5,6 @@ ros2 launch gcs_bringup gcs.launch.xml
 cws
 bws
 sws
-bws --packages-select gcs_bringup
+bws --packages-select gcs_bringup
+mosquitto_sub -h localhost -t healthcheck -u airlab
+mosquitto_sub -h localhost -t to_tak -u airlab

docs/ground_control_station/casualty_assessment/casualty_assessment.md

@@ -1,5 +1,6 @@
-PROJECT_NAME= GCS # Enter the project name
-
+PROJECT_NAME="airstack"
+PROJECT_VERSION="0.12.0"
+PROJECT_DOCKER_REGISTRY="airlab-storage.andrew.cmu.edu:5001/shared"
 
 # ROS --------------------------------------------------------
 ROS_WS_DIR=/root/ros_ws

docs/ground_control_station/command_center/command_center.md

@@ -16,26 +16,20 @@ RUN apt-get update && apt-get install -y \
     libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base \
     gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
     gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools \
-    gstreamer1.0-x gstreamer1.0-alsa openssh-server
+    gstreamer1.0-x gstreamer1.0-alsa openssh-server \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install Python dependencies
 RUN pip3 install empy future lxml matplotlib numpy pkgconfig psutil pygments \
-    wheel pymavlink pyyaml requests setuptools six toml scipy pytak paho-mqtt
+    wheel pymavlink pyyaml requests setuptools six toml scipy pytak paho-mqtt sphinx
 
 # Configure SSH
 RUN mkdir /var/run/sshd && echo 'root:airstack' | chpasswd && \
     sed -i 's/#PermitRootLogin prohibit-password/PermitRootLogin yes/' /etc/ssh/sshd_config && \
     sed -i 's/#PasswordAuthentication yes/PasswordAuthentication yes/' /etc/ssh/sshd_config && \
     sed 's@session\s*required\s*pam_loginuid.so@session optional pam_loginuid.so@g' -i /etc/pam.d/sshd
-
+# open port 22 for ssh
 EXPOSE 22
 
-# Build ROS2 workspace
-# COPY ground_control_station/ros_ws/src/ros2tak_tools /root/ros_ws/src/ros2tak_tools
-# COPY common/ros_packages/airstack_msgs /root/ros_ws/src/airstack_msgs
-# RUN /bin/bash -c "source /opt/ros/humble/setup.bash && \
-#                   colcon build --symlink-install --packages-select airstack_msgs && \
-#                   colcon build --symlink-install"
-
 # Cleanup
 RUN apt purge git -y && apt autoremove -y && apt clean -y && rm -rf /var/lib/apt/lists/*

docs/ground_control_station/index.md

@@ -6,7 +6,6 @@ services:
     extends:
       file: ./ground-control-station-base-docker-compose.yaml
       service: ground-control-station-base
-    container_name: ground-control-station
     networks:
       - airstack_network
     ports:
@@ -25,6 +24,3 @@ services:
      - $HOME/bags/:/bags
      - ../../robot/ros_ws/src/robot_bringup/rviz/:/bags/rviz
      - ../../plot:/plot
-
-# include: 
-  # - ./tak-docker-compose.yaml