CNS Flight Stack

A ROS1 workspace to use the CNS Flight Stack: a UAV flight stack to autonomously perform reproducible and customizable missions.

Maintainers: Christian Brommer, Alessandro Fornasier, and Martin Scheiber

Credit

This code was written by the Control of Networked System (CNS), University of Klagenfurt, Klagenfurt, Austria.

License

This software is made available to the public to use (source-available), licensed under the terms of the BSD-2-Clause-License with no commercial use allowed, the full terms of which are made available in the LICENSE file. No license in patents is granted.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding academic paper and consult the LICENSE file for a detailed explanation.

@article{cns_flightstack22,
    title        = {CNS Flight Stack for Reproducible, Customizable, and Fully Autonomous Applications},
    author       = {Scheiber, Martin and Fornasier, Alessandro and Jung, Roland and Böhm, Christoph and Dhakate, Rohit and Stewart, Christian and Steinbrener, Jan and Weiss, Stephan and Brommer, Christian},
    journal      = {IEEE Robotics and Automation Letters},
    volume       = {7},
    number       = {4},
    year         = {2022},
    doi          = {10.1109/LRA.2022.3196117},
    url          = {https://ieeexplore.ieee.org/document/9849131},
    pages        = {11283--11290}
}

Tutorial

Please consult the Wiki for a detailed tutorial on installation, configuration, and usage.

Setup and compile the project

# Get the ros package
git clone https://github.com/aau-cns/flight_stack.git cns_flightstack
cd cns_flightstack
git submodule update --init --recursive

# Build the project
catkin init
catkin build

After building you can install the launch scripts with

sudo ./scripts/install_scripts.sh

Then, launching the flight stack is possible via

• fs_remote <USER>@<IP> to launch the flight stack remotely with user ID at the device with IP IP
• fs_dev<1|2> to launch the flight stack on device 1 or 2
• fs_op to launch the operator window, i.e., autonomy engine only

Please consult fs_<SCRIPT> -h for further information.

Isolated Build with Docker

cd cns_flightstack # enter flight stack directory
docker build --network=host -t cns_flight_stack_test_env:latest docker/ # Build the Docker image

# The following runs the container, maps the source code (read only)
# and executes the script in 'docker/docker_application_test.sh'
docker run -it --rm \
  --network=host \
  -v "$(pwd)/src":/source:ro \
  cns_flight_stack_test_env:latest

Please do not forget to build your workspace inside the docker test container, as the source is just linked to your host.

Deployment Details

Type	Status
Release
Debug