set dds agent ip with rcs parameter override

Author: JacopoPan

.github/workflows/aas-amd64-build-and-test.yml

@@ -111,11 +111,11 @@ jobs:
           docker tag ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} simulation-image:latest
           docker images | grep latest
 
-      - name: Set up Conda with Python 3.13
+      - name: Set up Conda with Python 3.12
         uses: conda-incubator/setup-miniconda@v3
         with:
           activate-environment: aas
-          python-version: 3.13
+          python-version: 3.12
           auto-activate: true
           use-only-tar-bz2: true 
 

.github/workflows/aas-gym-pip-install.yml

@@ -39,11 +39,11 @@ jobs:
       - name: Check out the repository
         uses: actions/checkout@v4
 
-      - name: Set up Conda with Python 3.13
+      - name: Set up Conda with Python 3.12
         uses: conda-incubator/setup-miniconda@v3
         with:
           activate-environment: aas
-          python-version: 3.13
+          python-version: 3.12
           auto-activate: true
           use-only-tar-bz2: true 
 

README.md

@@ -25,7 +25,7 @@ For an example bill of materials, read [`BOM.md`](/supplementary/BOM.md); for mo
 - **YOLO** (with ONNX GPU Runtimes) and **LiDAR** Odometry (with [KISS-ICP](https://github.com/PRBonn/kiss-icp))
 - 3D worlds for perception-based simulation
 - **Steppable** [Gymnasium environment](https://gymnasium.farama.org/index.html) and **faster-than-real-time**, **multi-instance** simulation
-- Gazebo's wind effects plugin
+- Gazebo's wind effects and [waves](https://github.com/srmainwaring/asv_wave_sim) plugins
 - **Dockerized simulation** based on [Ubuntu with CUDA and cuDNN](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/cuda/tags)
 - **Dockerized deployment** based on [NVIDIA JetPack](https://catalog.ngc.nvidia.com/orgs/nvidia/containers/l4t-jetpack/tags) with [DeepStream](https://docs.nvidia.com/metropolis/deepstream/dev-guide/text/DS_Installation.html#platform-and-os-compatibility)
 - **Windows 11** compatibility *via* WSL
@@ -566,9 +566,8 @@ Clean up with:
 docker stop $(docker ps -q) && docker container prune -f && docker network prune -f
 -->
 
----
 ![waves](https://github.com/user-attachments/assets/fd757549-33bd-434d-aac6-665c255b7160)
-
+---
 > You've done a man's job, sir. I guess you're through, huh?
 
 <!--

simulation/simulation.yml.erb

@@ -80,6 +80,8 @@ windows:
       model_name = is_quad ? "x500_#{sitl_instance}" : "standard_vtol_#{sitl_instance}"
       x_offset = drone[:index] * 2
       y_offset = is_quad ? x_offset : x_offset + 2
+      unsigned_32bit_ip = "#{sim_subnet}.90.#{drone_id}".split('.').inject(0) { |acc, octet| (acc << 8) + octet.to_i }
+      signed_32bit_ip = unsigned_32bit_ip > 2147483647 ? unsigned_32bit_ip - 4294967296 : unsigned_32bit_ip
     elsif autopilot == 'ardupilot'
       vehicle_config = is_quad ? '-v ArduCopter -f gazebo-iris' : '-v ArduPlane'
       model_name = is_quad ? "iris_with_ardupilot_#{drone_id}" : "alti_transition_quad_#{drone_id}"
@@ -93,7 +95,7 @@ windows:
           sleep <%= sitl_instance * 1.5 %> &&
           PX4_GZ_MODEL_POSE=<%= "#{x_offset},#{y_offset},0.75,0,0,0" %>
           PX4_SYS_AUTOSTART=<%= autostart %> ROS_DOMAIN_ID=<%= drone_id %> <%= gnd_container ? "AAS_GROUND_IP=#{sim_subnet}.90.#{ground_id}" : "" %>
-          PX4_UXRCE_DDS_NS="Drone<%= drone_id %>" PX4_UXRCE_DDS_AG_IP=<%= "#{sim_subnet}.90.#{drone_id}" %> PX4_UXRCE_DDS_PORT=8888
+          PX4_UXRCE_DDS_NS="Drone<%= drone_id %>" PX4_PARAM_UXRCE_DDS_AG_IP=<%= signed_32bit_ip %> PX4_UXRCE_DDS_PORT=8888
           /aas/github_apps/PX4-Autopilot/build/px4_sitl_default/bin/px4 -i <%= sitl_instance %>
   <% elsif autopilot == 'ardupilot' %>
   - ardu_sitl_<%= drone_id %>:

simulation/simulation_resources/patches/px4-v1.16.2.patch

@@ -1,5 +1,5 @@
 diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink b/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
-index 17ef44521b..ccf6907a1b 100644
+index 17ef445..ccf6907 100644
 --- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
 +++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink
 @@ -4,6 +4,8 @@
@@ -21,21 +21,8 @@ index 17ef44521b..ccf6907a1b 100644
  # Onboard link to camera
  mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
-diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
-index fed292b9d1..c73ecd55f3 100644
---- a/ROMFS/px4fmu_common/init.d-posix/rcS
-+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
-@@ -317,7 +317,7 @@ then
- 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
- fi
- 
--uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
-+uxrce_dds_client start -t udp -h "${PX4_UXRCE_DDS_AG_IP:-127.0.0.1}" -p $uxrce_dds_port $uxrce_dds_ns
- 
- if param greater -s MNT_MODE_IN -1
- then
 diff --git a/Tools/upload_log.py b/Tools/upload_log.py
-index a13f1b14b0..83a816a378 100755
+index a13f1b1..83a816a 100755
 --- a/Tools/upload_log.py
 +++ b/Tools/upload_log.py
 @@ -25,10 +25,6 @@ except ImportError as e:
@@ -69,7 +56,7 @@ index a13f1b14b0..83a816a378 100755
                 'feedback': feedback, 'email': email, 'source': args.source}
 
 diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
-index dc53c6928d..79b604e348 100644
+index dc53c69..79b604e 100644
 --- a/src/modules/navigator/navigator_main.cpp
 +++ b/src/modules/navigator/navigator_main.cpp
 @@ -648,6 +648,10 @@ void Navigator::run()
@@ -84,7 +71,7 @@ index dc53c6928d..79b604e348 100644
  				_vtol_takeoff.setLoiterLocation(matrix::Vector2d(cmd.param5, cmd.param6));
 
 diff --git a/src/modules/navigator/vtol_takeoff.cpp b/src/modules/navigator/vtol_takeoff.cpp
-index 503a0279f9..01d8a98ba7 100644
+index 503a027..01d8a98 100644
 --- a/src/modules/navigator/vtol_takeoff.cpp
 +++ b/src/modules/navigator/vtol_takeoff.cpp
 @@ -71,8 +71,12 @@ VtolTakeoff::on_active()
@@ -103,7 +90,7 @@ index 503a0279f9..01d8a98ba7 100644
  				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
  				pos_sp_triplet->current.cruising_speed = -1.f;
 diff --git a/src/modules/navigator/vtol_takeoff.h b/src/modules/navigator/vtol_takeoff.h
-index 3ba32ce7df..162209893d 100644
+index 3ba32ce..1622098 100644
 --- a/src/modules/navigator/vtol_takeoff.h
 +++ b/src/modules/navigator/vtol_takeoff.h
 @@ -55,6 +55,7 @@ public: