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Implementation of snowsampler drone
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‎.github/workflows/build_test.yml

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name: ROS1 Build Test
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on:
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push:
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branches:
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- 'ros1'
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pull_request:
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branches:
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- '*'
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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config:
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- {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'}
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container: ${{ matrix.config.container }}
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steps:
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- uses: actions/checkout@v1
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with:
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token: ${{ secrets.ACCESS_TOKEN }}
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github-token: ${{ secrets.GITHUB_TOKEN }}
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- name: Install Dependencies
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working-directory:
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env:
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DEBIAN_FRONTEND: noninteractive
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run: |
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apt update
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apt install -y python3-wstool python3-catkin-tools git
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shell: bash
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- name: Build Test
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working-directory:
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env:
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DEBIAN_FRONTEND: noninteractive
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run: |
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mkdir -p $HOME/catkin_ws/src;
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cd $HOME/catkin_ws
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catkin init
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catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
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catkin config --merge-devel
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cd $HOME/catkin_ws/src
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ln -s $GITHUB_WORKSPACE
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cd $HOME/catkin_ws
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wstool init src src/adaptive-snowsampler/dependencies.rosinstall
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wstool update -t src -j4
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rosdep update
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rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
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catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
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catkin build -j$(nproc) -l$(nproc) adaptive_snowsampler
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# - name: unit_tests
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# working-directory:
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# run: |
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# cd $HOME/catkin_ws/src
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# catkin config --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_ENABLE_TESTING=True
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# catkin build grid_map_geo --no-deps -i --catkin-make-args tests
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# source $HOME/catkin_ws/devel/setup.bash
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# status=0 && for f in $HOME/catkin_ws/devel/lib/*/*-test; do $f || exit 1; done
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# shell: bash

‎.github/workflows/check_style.yml

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name: Style Checks
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on:
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push:
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branches:
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- main
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pull_request:
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branches:
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- '*'
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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config:
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- {rosdistro: 'humble', container: 'osrf/ros:humble-desktop'}
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container: ${{ matrix.config.container }}
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steps:
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- uses: actions/checkout@v4
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with:
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path: src/adaptive-snowsampler
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- name: Install Dependencies with Rosdep
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run: |
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apt update
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rosdep update
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source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
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rosdep install --from-paths src --ignore-src -y --dependency-types test
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shell: bash
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- name: Check Code format
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working-directory: src/adaptive-snowsampler/Tools
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run: |
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./check_code_format.sh ..

‎.gitignore

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**/.vscode/
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adaptive_snowsampler/scripts/__pycache__/*

‎LICENSE

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BSD 3-Clause License
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Copyright (c) 2024, Jaeyoung Lim, Autonomous Systems Lab, ETH Zurich
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its
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contributors may be used to endorse or promote products derived from
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this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

‎README.md

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<img align="right" height="60" src="https://user-images.githubusercontent.com/5248102/126074528-004a32b9-7911-486a-9e79-8b78e6e66fdc.png">
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# adaptive_snowsampler
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[![ROS1 Build Test](https://github.com/Jaeyoung-Lim/adaptive-snowsampler/actions/workflows/build_test.yml/badge.svg)](https://github.com/Jaeyoung-Lim/adaptive-snowsampler/actions/workflows/build_test.yml)
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This project includes an implementation of operating the snow sampler drone.
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> This work has been submitted to [ISSW 2024](https://www.issw2024.com/).
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![drone_in_snow](https://github.com/ethz-asl/adaptive-snowsampler/assets/5248102/acb43300-03ae-4160-b090-5c5f373461be)
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## Installation
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```
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cd ~
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mkdir -p catkin_ws/src
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cd catkin_ws/src
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git clone https://github.com/Jaeyoung-Lim/adaptive-snowsampler.git -b ros1
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git clone https://github.com/ethz-asl/grid_map_geo.git
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git clone https://github.com/ethz-asl/mav_comm.git
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git clone https://github.com/ethz-asl/terrain-navigation.git
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cd ..
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sudo rosdep init
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rosdep update
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rosdep install --from-paths src --ignore-src -y
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catkin build
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# post building tasks
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echo 'ATTRS{idVendor}=="04d8", ATTRS{idProduct}=="fc5f", GROUP="dialout"' | sudo tee /etc/udev/rules.d/99-actuonix.rules #setting usb permissions
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sudo usermod -aG dialout user # add user to the dailout group
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sudo reboot # needed for the usb permissions to take effect
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# installation of GeographicLib dependency
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cd ~
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git clone https://github.com/mavlink/mavros.git
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sudo apt install geographiclib-tools libgeographic-dev
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sudo ~/mavros/mavros/scripts/install_geographiclib_datasets.sh
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```
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## Running the code
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Run the code with the following launch file
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```
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source ~/ros2_ws/install/setup.bash
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ros2 launch adaptive_snowsampler launch.xml
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```
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## Testing with PX4 Software-In-The-Loop(SITL) simulation
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Set the Package Paths
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```
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cd ~/PX4-Autopilot/
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DONT_RUN=1 make px4_sitl_default gazebo-classic
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source ~/catkin_ws/devel/setup.bash # (optional)
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source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
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export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)
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export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/simulation/gazebo-classic/sitl_gazebo-classic
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```
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Set the takeoff location
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```
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export PX4_HOME_LAT=46.785479
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export PX4_HOME_LON=9.846803
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export PX4_HOME_ALT=2301.23
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```
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Run the node
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```
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roslaunch adaptive_snowsampler sitl_run.launch
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```
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## Running the ground station
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To control the vehicle from the ground, we need to connect to the ROS Master on the drone.
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Whereby its important that the IP is correct and that the drone and ground station are in the same zerotier network.
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Run rviz with the following command.
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```
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ROS_MASTER_URI=http://172.30.132.111:11311
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roslaunch snowsampler_rviz run.launch
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```
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![rviz](https://github.com/Jaeyoung-Lim/adaptive-snowsampler/assets/5248102/117a296d-01ad-4209-bec7-fb14267628e0)

‎Tools/check_code_format.sh

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#!/bin/bash
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# Fix style recursively in all the repository
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sh fix_code_style.sh ..
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# Print the diff with the remote branch (empty if no diff)
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git --no-pager diff -U0 --color
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# Check if there are changes, and failed
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if ! git diff-index --quiet HEAD --; then echo "Code style check failed, please run clang-format (e.g. with scripts/fix_code_style.sh)"; exit 1; fi

‎Tools/configure.sh

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#!/bin/bash
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set -e
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echo "This script will configure your system"
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if [ "$EUID" -ne 0 ]
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then echo "Please run as root"
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exit
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fi
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PACKAGE_PATH=/home/user/catkin_ws/src/adaptive-snowsampler
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# Configure systemd service
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echo "Copy systemd service"
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cp -vf $PACKAGE_PATH/systemd/adaptive-snowsampler.service /etc/systemd/system/
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cp -vf $PACKAGE_PATH/systemd/mavlink-router.service /etc/systemd/system/
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cp -vf $PACKAGE_PATH/systemd/rosbag-record.service /etc/systemd/system/
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cp -vf $PACKAGE_PATH/systemd/ssp-bridge.service /etc/systemd/system/
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cp -vf $PACKAGE_PATH/systemd/system-monitor.service /etc/systemd/system/
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systemctl enable adaptive-snowsampler.service
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systemctl enable mavlink-router.service
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systemctl enable ssp-bridge.service
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systemctl enable system-monitor.service
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sudo systemctl start adaptive-snowsampler.service
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sudo systemctl start mavlink-router.service
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sudo systemctl start ssp-bridge.service
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sudo systemctl start system-monitor.service

‎Tools/fix_code_style.sh

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#!/bin/bash
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STYLE="google"
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if [ "$#" -eq 0 ]; then
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echo "Usage: $0 <src_file | dir>"
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echo ""
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echo "ERROR: At least one source file or one directory must be provided!"
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exit 1
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fi
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for arg in "$@"
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do
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if [ -f $arg ]; then
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clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}' $arg
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elif [ -d $arg ]; then
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find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs clang-format -i -style='{BasedOnStyle: google, ColumnLimit: 120}'
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find $arg -iname '*.h' -o -iname '*.cpp' -o -iname '*.hpp' | xargs chmod 644
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fi
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done

‎adaptive_snowsampler/CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(adaptive_snowsampler)
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add_definitions(-std=c++17)
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
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# find dependencies
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find_package(Eigen3)
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find_package(GeographicLib REQUIRED)
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include(CheckGeographicLibDatasets)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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tf
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grid_map_geo
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grid_map_ros
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grid_map_geo_msgs
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eigen_catkin
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interactive_markers
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planner_msgs
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snowsampler_msgs
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)
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execute_process(
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COMMAND "${PYTHON_EXECUTABLE}" -m pip install --no-warn-script-location -r "${CMAKE_CURRENT_SOURCE_DIR}/requirements.txt"
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RESULT_VARIABLE _pip_install_result
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OUTPUT_VARIABLE _pip_install_output
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES adaptive_snowsampler
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CATKIN_DEPENDS roscpp
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Eigen_INCLUDE_DIRS}
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${GeographicLib_INCLUDE_DIRS}
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)
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catkin_install_python(PROGRAMS
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scripts/snowsampler_lac.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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include_directories(
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include
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)
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add_executable(adaptive_snowsampler
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src/main.cpp
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src/adaptive_snowsampler.cpp)
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target_link_libraries(adaptive_snowsampler ${catkin_LIBRARIES} ${planner_msgs_TARGETS} ${GeographicLib_LIBRARIES})
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add_dependencies(adaptive_snowsampler ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

‎adaptive_snowsampler/cmake/CheckGeographicLibDatasets.cmake

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##
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# This module verifies the installation of the GeographicLib datasets and warns
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# if it doesn't detect them.
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##
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find_path(GEOGRAPHICLIB_GEOID_PATH NAMES geoids PATH_SUFFIXES share/GeographicLib share/geographiclib)
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find_path(GEOGRAPHICLIB_GRAVITY_PATH_ NAMES gravity PATH_SUFFIXES share/GeographicLib)
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find_path(GEOGRAPHICLIB_MAGNETIC_PATH_ NAMES magnetic PATH_SUFFIXES share/GeographicLib)
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if(NOT GEOGRAPHICLIB_GEOID_PATH)
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message(STATUS "No geoid model datasets found. This will result on a SIGINT! Please execute the script install_geographiclib_dataset.sh in /mavros/scripts")
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else()
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message(STATUS "Geoid model datasets found in: " ${GEOGRAPHICLIB_GEOID_PATH}/geoid)
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set(GEOGRAPHICLIB_GEOID_PATH ${GEOGRAPHICLIB_GEOID_PATH}/geoid)
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endif()
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if(NOT GEOGRAPHICLIB_GRAVITY_PATH_)
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message(STATUS "No gravity field model datasets found. Please execute the script install_geographiclib_dataset.sh in /mavros/scripts")
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else()
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message(STATUS "Gravity Field model datasets found in: " ${GEOGRAPHICLIB_GRAVITY_PATH_}/gravity)
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set(GEOGRAPHICLIB_GRAVITY_PATH ${GEOGRAPHICLIB_GRAVITY_PATH_}/gravity)
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endif()
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if(NOT GEOGRAPHICLIB_MAGNETIC_PATH_)
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message(STATUS "No magnetic field model datasets found. Please execute the script install_geographiclib_dataset.sh in /mavros/scripts")
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else()
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message(STATUS "Magnetic Field model datasets found in: " ${GEOGRAPHICLIB_MAGNETIC_PATH_}/magnetic)
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set(GEOGRAPHICLIB_MAGNETIC_PATH ${GEOGRAPHICLIB_MAGNETIC_PATH_}/magnetic)
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endif()

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