Merge branch 'ddpg'

.gitignore

@@ -2,3 +2,7 @@ build/
 install/
 log/
 .cache/
+*.h5
+temp/
+deleteme/
+__pycache__/

flake.nix

@@ -0,0 +1,16 @@
+{
+  description = "SimonJonesArtifact";
+  inputs.nixpkgs.url = "github:nixos/nixpkgs/nixpkgs-unstable";
+  outputs = { self, nixpkgs }:
+    let
+        pkgs = import nixpkgs { system = "x86_64-linux"; };
+    in
+    {
+      devShells.x86_64-linux.default = pkgs.mkShell {
+        packages = [
+          pkgs.sshfs
+          pkgs.blender
+        ];
+      };
+  };
+}

launch/clover_model.launch

@@ -0,0 +1,19 @@
+<launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
+    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
+    <arg name="maintain_camera_rate" default="false"/> <!-- Slow simulation down to maintain camera rate -->
+    <arg name="rangefinder" default="true"/> <!-- Simulated downward-facing rangefinder, vl53l1x-like -->
+    <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
+    <arg name="gps" default="false"/> <!--Simulated GPS module -->
+    <arg name="use_clover_physics" default="false"/> <!-- Use inertial parameters from CAD models -->
+
+    <!-- Clover model -->
+    <include file="$(find clover_description)/launch/spawn_drone.launch" if="$(eval type == 'gazebo')">
+        <arg name="main_camera" value="$(arg main_camera)"/>
+        <arg name="maintain_camera_rate" value="$(arg maintain_camera_rate)"/>
+        <arg name="rangefinder" value="$(arg rangefinder)"/>
+        <arg name="led" value="$(arg led)"/>
+        <arg name="gps" value="$(arg gps)"/>
+        <arg name="use_clover_physics" value="$(arg use_clover_physics)"/>
+    </include>
+</launch>

launch/clover_services.launch

@@ -0,0 +1,18 @@
+<launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
+    <arg name="main_camera" default="true"/> <!-- Simulated vision position estimation camera (optical flow, ArUco) -->
+    <arg name="led" default="true"/> <!-- Simulated LED strip, ws281x-like -->
+
+    <!-- Clover services -->
+    <include file="$(find clover)/launch/clover.launch">
+        <arg name="simulator" value="true"/>
+        <arg name="fcu_conn" value="sitl"/>
+        <arg name="fcu_ip" value="127.0.0.1"/>
+        <arg name="gcs_bridge" value=""/>
+        <arg name="web_video_server" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="main_camera" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="aruco" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="optical_flow" default="false" if="$(eval type == 'jmavsim')"/>
+        <arg name="led" default="false" if="$(eval type == 'jmavsim')"/>
+    </include>
+</launch>

launch/gazebo.launch

@@ -0,0 +1,13 @@
+<launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
+    <arg name="gui" default="true"/> <!-- Run Gazebo with GUI -->
+
+    <!-- Gazebo instance -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" if="$(eval type == 'gazebo')">
+        <!-- Workaround for crashes in VMware -->
+        <env name="SVGA_VGPU10" value="0"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(find clover_simulation)/resources/worlds/clover_aruco.world"/>
+        <arg name="verbose" value="true"/>
+    </include>
+</launch>

launch/px4.launch

@@ -0,0 +1,12 @@
+<launch>
+    <arg name="type" default="gazebo"/> <!-- gazebo, jmavsim, none (only clover packages) -->
+    <arg name="mav_id" default="0"/>
+    <arg name="est" default="ekf2"/> <!-- PX4 estimator: lpe, ekf2 -->
+    <arg name="vehicle" default="clover"/> <!-- PX4 vehicle configuration: clover, clover_vpe -->
+
+    <!-- PX4 instance -->
+    <node name="sitl_$(arg mav_id)" pkg="px4" type="px4" output="screen" required="true" args="$(find px4)/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -i $(arg mav_id)" unless="$(eval type == 'none')">
+        <env name="PX4_SIM_MODEL" value="$(arg vehicle)"/>
+        <env name="PX4_ESTIMATOR" value="$(arg est)"/>
+    </node>
+</launch>