Multi-drone real race support via host-client ROS2 architecture

.gitignore

@@ -17,5 +17,9 @@ c_generated_code/
 # pixi environments
 .pixi/*
 !.pixi/config.toml
-ros_ws/
-acados/
+# ROS2 workspace build artifacts
+ros_ws/src/motion_capture_tracking
+ros_ws/build
+ros_ws/install
+ros_ws/log
+acados/**

config/multi_level0.toml

@@ -1,8 +1,8 @@
 # Level 0
 
-# | Evaluation Scenario | Rand. Inertial Properties | Randomized Obstacles, Gates | Rand. Between Episodes | Notes             |
-# | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: |
-# | `level0.toml`       | *No*                      | *No*                        | *No*                   | Perfect knowledge |
+# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes             |
+# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :---------------: |
+# | `level0.toml`       | *No*                           | *No*                        | *No*              | Perfect knowledge |
 [[controller]]
 file = "attitude_controller_multi.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/`
 [[controller]]  # Add the controller files for each drone
@@ -18,11 +18,13 @@ check_drone_start_pos = true
 real_track_objects = true
 
 [[deploy.drones]]
+radio = 0
 id = 10
 channel = 100
 drone_model = "cf21B_500"                        # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500
 
 [[deploy.drones]]
+radio = 0
 id = 20
 channel = 100
 drone_model = "cf21B_500"                        # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500

config/multi_level2.toml

@@ -1,8 +1,8 @@
-# Level 0
+# Level 2
 
-# | Evaluation Scenario | Rand. Inertial Properties | Randomized Obstacles, Gates | Rand. Between Episodes | Notes             |
-# | :-----------------: | :-----------------------: | :-------------------------: | :--------------------: | :---------------: |
-# | `level0.toml`       | *No*                      | *No*                        | *No*                   | Perfect knowledge |
+# | Evaluation Scenario | Randomized Inertial Properties | Randomized Obstacles, Gates | Randomized Tracks | Notes                 |
+# | :-----------------: | :----------------------------: | :-------------------------: | :---------------: | :-------------------: |
+# | `level2.toml`       | *Yes*                          | *Yes*                       | *No*              | Learning, re-planning |
 [[controller]]
 file = "attitude_controller_multi.py" # Put your controller file name here. Specifying a controller as argument to scripts will override this setting. Controllers are located in `lsy_drone_racing/control/`
 [[controller]]
@@ -18,11 +18,13 @@ check_drone_start_pos = true
 real_track_objects = true
 
 [[deploy.drones]]
+radio = 0
 id = 10
 channel = 100
 drone_model = "cf21B_500"                        # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500
 
 [[deploy.drones]]
+radio = 0
 id = 20
 channel = 100
 drone_model = "cf21B_500"                        # Model of the drone, i.e., cf2x_L250, cf2x_P250, cf2x_T500, cf21B_500. For this course, we use cf21B_500
@@ -83,7 +85,7 @@ rpy = [0.0, 0.0, 0.0]
 # Obstacle height: 1.52m + reflective marker on top. Height is measured from the ground to the top of the obstacle.
 # Obstacles are cylinders with a diameter of 0.03m.
 [[env.track.obstacles]]
-pos = [-1.5, 0.55, 0.01]
+pos = [0.0, 0.75, 1.55]
 [[env.track.obstacles]]
 pos = [1.0, 0.25, 1.55]
 [[env.track.obstacles]]
@@ -92,12 +94,12 @@ pos = [-1.5, -0.25, 1.55]
 pos = [-0.5, -0.75, 1.55]
 
 [[env.track.drones]]
-pos = [-1.5, 0.95, 0.01]
+pos = [-1.5, 0.55, 0.01]
 rpy = [0, 0, 0]
 vel = [0, 0, 0]
 ang_vel = [0, 0, 0]
 [[env.track.drones]]
-pos = [-1.3, 0.75, 0.01]
+pos = [-1.5, 0.95, 0.01]
 rpy = [0, 0, 0]
 vel = [0, 0, 0]
 ang_vel = [0, 0, 0]

lsy_drone_racing/envs/__init__.py

@@ -46,3 +46,9 @@
     entry_point="lsy_drone_racing.envs.real_race_env:RealMultiDroneRaceEnv",
     disable_env_checker=True,
 )
+
+register(
+    id="RealMultiDroneRaceEnvClient-v0",
+    entry_point="lsy_drone_racing.envs.real_race_client_env:RealMultiDroneRaceEnvClient",
+    disable_env_checker=True,
+)