castacks · andrewjong · Feb 19, 2025 · Jan 28, 2025 · Jan 28, 2025 · Jan 28, 2025
diff --git a/.env b/.env
@@ -1,6 +1,9 @@
+# This top-level .env file under AirStack/ defines variables that are propagated through docker-compose.yaml
 PROJECT_NAME="airstack"
-PROJECT_VERSION="1.0.5"
+PROJECT_VERSION="1.1.0"
 # 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/fire_academy.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"
diff --git a/.github/workflows/deploy_docs.yaml b/.github/workflows/deploy_docs.yaml
diff --git a/.github/workflows/deploy_docs_from_develop.yaml b/.github/workflows/deploy_docs_from_develop.yaml
@@ -0,0 +1,32 @@
+name: Build/Publish Develop Docs 
+on:
+  push:
+    paths:
+      - "docs/**"
+      - "mkdocs.yml"
+      - "*.md"
+      - ".github/workflows/deploy_docs_from_develop.yaml"
+    branches:
+      - develop
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.10.6
+      - name: Install Dependencies
+        run: |
+          pip install mkdocs-material mkdocs-same-dir mkdocs-redirects
+          pip install pillow cairosvg mike
+      - name: Setup Docs Deploy
+        run: |
+          git config --global user.name "Docs Deploy"
+          git config --global user.email "[email protected]"
+      - name: Build Docs Website
+        run: mike deploy --push develop
diff --git a/.github/workflows/deploy_docs_from_main.yaml b/.github/workflows/deploy_docs_from_main.yaml
@@ -0,0 +1,32 @@
+name: Build/Publish Main Docs 
+on:
+  push:
+    paths:
+      - "docs/**"
+      - "mkdocs.yml"
+      - "*.md"
+      - ".github/workflows/deploy_docs_from_main.yaml"
+    branches:
+      - main
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.10.6
+      - name: Install Dependencies
+        run: |
+          pip install mkdocs-material mkdocs-same-dir mkdocs-redirects
+          pip install pillow cairosvg mike
+      - name: Setup Docs Deploy
+        run: |
+          git config --global user.name "Docs Deploy"
+          git config --global user.email "[email protected]"
+      - name: Build Docs Website
+        run: mike deploy --push main
diff --git a/.github/workflows/deploy_docs_from_release.yaml b/.github/workflows/deploy_docs_from_release.yaml
@@ -0,0 +1,28 @@
+name: Build/Publish Latest Release Docs
+
+on:
+  release:
+    types: [published]
+
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - uses: actions/setup-python@v4
+        with:
+          python-version: 3.10.6
+      - name: Install Dependencies
+        run: |
+          pip install mkdocs-material
+          pip install pillow cairosvg mike
+      - name: Setup Docs Deploy
+        run: |
+          git config --global user.name "Docs Deploy"
+          git config --global user.email "[email protected]"
+      - name: Build Docs Website
+        run: mike deploy --push --update-aliases ${{ github.event.release.tag_name }} latest
diff --git a/.gitmodules b/.gitmodules
@@ -7,3 +7,6 @@
 [submodule "ground_control_station/ros_ws/src/ros-gst-bridge"]
 	path = ground_control_station/ros_ws/src/ros-gst-bridge
 	url = https://github.com/BrettRD/ros-gst-bridge.git
+[submodule "robot/ros_ws/src/autonomy/2_perception/macvo/macvo/src"]
+	path = robot/ros_ws/src/autonomy/2_perception/macvo/macvo/src
+	url = https://github.com/MAC-VO/MAC-VO.git
diff --git a/docs/README.md b/docs/README.md
@@ -1,15 +1,7 @@
-# AirStack Boilerplate
-
-Welcome to the AirStack Boilerplate! This repository template serves to kickstart the development of your own robotics autonomy stack. You're encouraged to customize your version in any way to best suit your project's needs.
-
-This boilerplate is maintained by the [AirLab](https://theairlab.org) at Carnegie Mellon University's Robotics Institute.
-
-Please head to our [Getting Started](getting_started.md) page to start.
-
-
-
-
-![Overview](overview.png)
-*AirStack*
-
-
+---
+template: home.html
+title: Home
+hide:
+  - navigation
+  - toc
+---
diff --git a/docs/assets/media/splash-background.gif b/docs/assets/media/splash-background.gif
diff --git a/docs/development/project_configuration.md b/docs/development/project_configuration.md
@@ -1,4 +1,12 @@
 # Project Configuration
 
 The project as a whole can be configured using the `.env` file under the project root.
-The variables in the `.env` file gets populated into the root `docker-compose.yml`.
+The variables in the `.env` file get propagated into the `docker-compose.yml` files.
+
+
+The top-level env file is reproduced below:
+```bash
+--8<-- ".env"
+```
+
+
diff --git a/docs/ground_control_station/asset/WinTAK_on_windows_virtualbox_vm.png b/docs/ground_control_station/asset/WinTAK_on_windows_virtualbox_vm.png
diff --git a/docs/ground_control_station/asset/setup.png b/docs/ground_control_station/asset/setup.png
diff --git a/docs/ground_control_station/index.md b/docs/ground_control_station/index.md
@@ -1,3 +1,39 @@
 # Ground Control Station
 
-The Ground Control Station (GCS) is for operators to monitor and control the robots. 
+The Ground Control Station (GCS) is for operators to monitor and control the robots.
+
+Requirements: 
+- 60GB Hard Disk Space
+- min 8GB RAM
+- min 4 CPU Cores
+- Ubuntu 22.04
+
+## Setup 
+WinTAK is setup as auto start on boot and connects to Airlabs TAK-Server. Its run on Windows 11 VirtualBox Virtual Machine.
+
+![Setup](asset/setup.png)
+
+1. Set your `ANDREWID` as an environment variable.
+```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"
+```
+
+NOTE: If it asks to reset the password, please reset to current password.
+
+![WinTAK](asset/WinTAK_on_windows_virtualbox_vm.png)
diff --git a/docs/overrides/home.html b/docs/overrides/home.html
@@ -0,0 +1,100 @@
+{% extends "main.html" %}
+
+{% block tabs %}
+  {{ super() }}
+
+  <!-- Hero section with background media -->
+  <section class="splash-container">
+    <!-- Background media -->
+    <div class="splash-background">
+      <div class="media-overlay"></div>
+      <div class="media-container">
+        <img src="assets/media/splash-background.gif" alt="Background Animation" class="splash-media">
+      </div>
+    </div>
+
+    <!-- Hero content -->
+    <div class="md-grid md-typeset">
+      <div class="mdx-hero">
+        <div class="mdx-hero__content">
+          <h1>Welcome to AirStack</h1>
+          <p>A comprehensive robotics autonomy stack boilerplate for accelerating your robotics development</p>
+          <a href="{{ 'docs/getting_started/' | url }}" class="md-button md-button--primary">
+            Get Started
+          </a>
+          <a href="{{ config.repo_url }}" class="md-button">
+            View on GitHub
+          </a>
+        </div>
+      </div>
+    </div>
+  </section>
+{% endblock %}
+
+{% block content %}
+<div class="md-content md-grid" data-md-component="content">
+  <div class="md-content__inner">
+    <!-- What is AirStack section -->
+    <section class="mdx-container">
+      <div class="md-grid md-typeset">
+        <div class="what-is-section">
+          <h2>What is AirStack?</h2>
+          <p>
+            AirStack is a powerful robotics development boilerplate maintained by the 
+            <a href="https://theairlab.org" target="_blank">AirLab</a> at Carnegie Mellon University's 
+            Robotics Institute. It provides a structured foundation for building advanced robotics 
+            applications with:
+          </p>
+          <ul class="feature-list">
+            <li>🤖 <strong>Complete Autonomy Stack</strong> - From sensors to behavior planning</li>
+            <li>🔧 <strong>Modular Architecture</strong> - Easy to customize and extend</li>
+            <li>🚀 <strong>Development Tools</strong> - Docker support, VSCode integration, and testing frameworks</li>
+            <li>📊 <strong>Ground Control Station</strong> - Built-in monitoring and control interface</li>
+            <li>🎮 <strong>Simulation Ready</strong> - Integrated with Isaac Sim</li>
+            <li>🔄 <strong>CI/CD Pipeline</strong> - Automated testing and deployment</li>
+          </ul>
+        </div>
+      </div>
+    </section>
+
+    <!-- Feature Cards section -->
+    <section class="mdx-container">
+      <div class="md-grid md-typeset">
+        <h2>Key Features</h2>
+        <div class="feature-grid">
+          <div class="feature-card">
+            <div class="feature-icon">🎯</div>
+            <h3>Autonomy Modules</h3>
+            <p>Complete suite of autonomy components including perception, planning, and control systems.</p>
+          </div>
+          <div class="feature-card">
+            <div class="feature-icon">🌐</div>
+            <h3>Ground Control</h3>
+            <p>Built-in ground control station for robot monitoring and control, with multi-robot support.</p>
+          </div>
+          <div class="feature-card">
+            <div class="feature-icon">🎲</div>
+            <h3>Simulation</h3>
+            <p>Integrated simulation environment with Isaac Sim for testing and development.</p>
+          </div>
+          <div class="feature-card">
+            <div class="feature-icon">🛠️</div>
+            <h3>Development Tools</h3>
+            <p>Comprehensive development environment with Docker, VSCode, and testing frameworks.</p>
+          </div>
+        </div>
+      </div>
+    </section>
+
+    <!-- Architecture Overview section -->
+    <section class="mdx-container">
+      <div class="md-grid md-typeset">
+        <div class="architecture-section">
+          <img src="overview.png" alt="AirStack Architecture Overview" class="architecture-image">
+          <p class="image-caption">AirStack Architecture Overview</p>
+        </div>
+      </div>
+    </section>
+  </div>
+</div>
+{% endblock %}
diff --git a/docs/robot/autonomy/3_local/planning/index.md b/docs/robot/autonomy/3_local/planning/index.md
@@ -4,4 +4,4 @@ Part of the local planner is the Waypoint Manager.
 
 The Waypoint Manager subscribes to the global waypoints and the drone's current position and publishes the next waypoint to the local planner.
 
-We plan for this baseline to be DROAN
+We plan for this baseline to be DROAN.
diff --git a/docs/robot/common_topics.md b/docs/robot/common_topics.md
diff --git a/docs/robot/configuration/index.md b/docs/robot/configuration/index.md
@@ -0,0 +1,2 @@
+# Configuration
+
Original file line number	Diff line number	Diff line change
Expand Up		@@ -4,4 +4,4 @@ Part of the local planner is the Waypoint Manager.

		The Waypoint Manager subscribes to the global waypoints and the drone's current position and publishes the next waypoint to the local planner.

		We plan for this baseline to be DROAN
		We plan for this baseline to be DROAN.