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Added Storage Tools documentation from PR #49 (#248)
Co-authored-by: openhands <[email protected]>
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‎docs/user_guide/getting_started.md

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# Getting Started
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Welcome to the AirLab Autonomy Stack. By the end of this guide, you will have the autonomy stack running on your machine.
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## Requirements
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You need at least 25GB free to install the Docker image.
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Have an NVIDIA GPU >= RTX 3070 to run Isaac Sim locally.
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## Setup
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### Clone
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```bash
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git clone --recursive -j8 [email protected]:castacks/AirStack.git
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```
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### Omniverse
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Install the Omniverse launcher download from this link:
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```bash
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wget https://install.launcher.omniverse.nvidia.com/installers/omniverse-launcher-linux.AppImage
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```
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Follow these instructions to setup Nucleus : [https://airlab.slite.com/app/docs/X8dZ8w5S3GP9tw](https://airlab.slite.com/app/docs/X8dZ8w5S3GP9tw)
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### SITL
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If you are using the Ascent Spirit drone download the SITL software packages from this link:
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[https://drive.google.com/file/d/1UxgezaTrHe4WJ28zsVeRhv1VYfOU5VK8/view?usp=drive_link](https://drive.google.com/file/d/1UxgezaTrHe4WJ28zsVeRhv1VYfOU5VK8/view?usp=drive_link)
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Then unzip the file AscentAeroSystemsSITLPackage.zip in this folder:
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```bash
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cd AirStack/simulation/AscentAeroSystems
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unzip ~/Downloads/AscentAeroSystemsSITLPackage.zip -d .
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```
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### Docker
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- Install [Docker Desktop](https://docs.docker.com/desktop/install/ubuntu/). This should come installed with docker compose.
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- Gain access to NVIDIA NGC Containers by following [these instructions](https://docs.nvidia.com/launchpad/ai/base-command-coe/latest/bc-coe-docker-basics-step-02.html)
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## Build and run the Docker image
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```bash
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cd AirStack/docker/
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## build the image, it is named airlab-autonomy-dev:latest
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docker compose --profile build build
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## start docker compose service/container
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docker compose up -d
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```
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## Launch
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Launch autonomy stack controls package:
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```bash
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# start a new terminal in docker container
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docker compose exec airstack_dev bash
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# in docker
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bws && sws ## build workspace and source workspace. these are aliases in ~/.bashrc
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ros2 launch robot_bringup launch_robot.yaml
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```
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Launch simulator (Isaac Sim and Ascent SITL):
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```bash
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xhost + ## allow Docker access to Linux X-Server
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# start another terminal in docker container
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docker compose exec airstack_dev bash
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# in docker
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ISAACSIM_PYTHON simulation/launch_sim.py
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```
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## Move Robot
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```bash
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# start another terminal in docker container
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docker compose exec airstack_dev bash
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# in docker
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# set drone mode to GUIDED
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ros2 service call /robot1/controls/mavros/set_mode mavros_msgs/SetMode "custom_mode: 'GUIDED'"
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# ARM
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ros2 service call /robot1/controls/mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: True}"
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# TAKEOFF
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ros2 service call /robot1/controls/mavros/cmd/takeoff mavros_msgs/srv/CommandTOL "{altitude: 5}"
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# FLY TO POSITION. Put whatever position you want
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ros2 topic pub /controls/mavros/setpoint_position/local geometry_msgs/PoseStamped \
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"{ header: { stamp: { sec: 0, nanosec: 0 }, frame_id: 'base_link' }, \
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pose: { position: { x: 10.0, y: 0.0, z: 20.0 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 1.0 } } }" -1
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```
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## Setup Storage Tools Server Locally
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### Clone and install
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``` bash
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git clone https://github.com/castacks/storage_tools_server
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cd storage_tools_server
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python -m venv venv
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. venv/bin/activate
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pip install -r requirements.txt
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```
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### Configure
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Edit the `config/config.yaml` file to match your configuration.
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### REQUIRED UPDATES
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- `upload_dir` is the location for uploads. This must be readable and writeable by the user running the Server.
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- `volume_root` sets the prefix for all entries in the `volume_map`. This must be readable and writeable by the user running the Server.
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### Set Environment and Run
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- `CONFIG` is the full path to the `config.yaml` in use. By default, the app will use `$PWD/config/config.yaml`
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- `PORT` is the same port as define in the optional setup. The default is 8091.
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``` bash
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export CONFIG=$PWD/config/config.yaml
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export PORT=8091
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gunicorn -k gevent -w 1 -b "0.0.0.0:${PORT}" --timeout 120 "server.app:app"
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```
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Open a web browser to [http://localhost:8091](http://localhost:8091) (or the PORT you set). The default user is `admin` and the default password is `NodeNodeDevices`.
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### Create an API Key for your robot
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- Log into the Server
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- Go to Configure -> Keys
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- Enter a name for the device key in the "Add a new key name" field.
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- Click "Generate Key"
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## Set up Storage Tools Device on your Robot
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### Install Requirements
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- [Docker Compose](https://docs.docker.com/compose/install/standalone/)
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### Clone Device Repo
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```bash
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cd /opt
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git clone https://github.com/castacks/storage_tools_device
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cd stroage_tools_device
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```
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### Update the config.env
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Update the `config.env` to match your system.
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- Required
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- `DATA_DIR`. This is the top level data directory that all of the `watch` dirs share. For example, if you `watch` directories are `/mnt/data/processor_1` and `/mnt/data/processor_2`, set the `DATA_DIR` to `/mnt/data`.
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- Optional
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- `CONFIG_PORT`. The HTTP port to edit the configuration. Navigate to http://YOUR_DEVICE_IP:CONFIG_PORT to edit the configurations and view online status. The default port is 8811.
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### Build and Run
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This sets up the environment and configures the image to start on boot.
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``` bash
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cd /opt/storage_tools_device
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# run in foreground
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docker compose --env-file config.env up --build --remove-orphans
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# run in background
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docker compose --env-file config.env up --build --remove-orphans -d
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```
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### Configure the Device
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Navigate to http://YOUR_DEVICE_IP:CONFIG_PORT to edit the configurations and view online status. The default port is 8811.
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### Device Configuration
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You must update all *Required* fields.
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- **Project Name**: Name of the project. If this is empty, the server will ask you to fill in the name.
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- **Robot Name**: (Required) Name of this robot. This should be unique within the project.
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- **API Key Token**: (Required) The API_KEY_TOKEN for this robot. Your admin can provide this to you. If you are running your own upload server, it is set in the Config->Keys page.
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- **Watch**: (Required) The list of directories to be watched. Any file with a matching suffix (see Include Suffix) will be uploaded. These all must be in the same subdirectory as `DATA_DIR` from the `config.env` file.
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- **Servers**: List of potential servers. If this is empty, the Device will search for servers using ZeroConf.
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- **Local Time Zone**: The time zone that the logs were recorded in.
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- **Threads**: The number of threads used for uploading from this device to the server.
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- **Include Suffix**: The list of included suffixes. Any file in the Watch directory (see above) that matches one of these suffixes will be uploaded to the server.
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- **Watch Interval**: How long to wait in seconds before attempting to connect to server again.
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Press [Save] to commit the changes to the device.
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Press [Refresh] to refesh the page with the on device settings.

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