# Takeoff action (quads and VTOLs)
cancellable_action "ros2 action send_goal /Drone${DRONE_ID}/takeoff_action autopilot_interface_msgs/action/Takeoff '{takeoff_altitude: 40.0, vtol_transition_heading: 330.0, vtol_loiter_nord: 200.0, vtol_loiter_east: 100.0, vtol_loiter_alt: 120.0}'"

# Land (at home) action (quads and VTOLs)
cancellable_action "ros2 action send_goal /Drone${DRONE_ID}/land_action autopilot_interface_msgs/action/Land '{landing_altitude: 60.0, vtol_transition_heading: 60.0}'"

# Orbit (quads and VTOLs)
cancellable_action "ros2 action send_goal /Drone${DRONE_ID}/orbit_action autopilot_interface_msgs/action/Orbit '{east: 500.0, north: 0.0, altitude: 150.0, radius: 200.0}'"

# Reposition service (quads only)
ros2 service call /Drone${DRONE_ID}/set_reposition autopilot_interface_msgs/srv/SetReposition '{east: 50.0, north: 100.0, altitude: 60.0}'

# Offboard action (PX4 quads and VTOLs offboard_setpoint_type: attitude = 0, rates = 1, trajectory = 2; ArduPilot quads offboard_setpoint_type: velocity = 3, acceleration = 4) 
cancellable_action "ros2 action send_goal /Drone${DRONE_ID}/offboard_action autopilot_interface_msgs/action/Offboard '{offboard_setpoint_type: 1, max_duration_sec: 5.0}'"

# SetSpeed Service (always limited by the autopilot params, for quads applies from the next command, not effective on ArduPilot VTOLs) 
ros2 service call /Drone${DRONE_ID}/set_speed autopilot_interface_msgs/srv/SetSpeed '{speed: 3.0}' 

Ctrl + b, then n, p                   # Move between Tmux windows 
Ctrl + b, then [arrow keys]           # Move between Tmux panes in a window
Ctrl + [, then [arrow keys]           # Enter copy mode (to select and/or scroll back)
q                                     # Exit copy mode
Ctrl + b, then "                      # Split a Tmux window horizontally
Ctrl + b, then %                      # Split a Tmux window vertically
Ctrl + b, then d                      # Detach Tmux

tmux list-sessions                    # List all sessions
tmux attach-session -t [session_name] # Reattach a session
tmux kill-session -t [session_name]   # Kill a session
tmux kill-server                      # Kill all sessions

docker ps -a                          # List containers
docker stop $(docker ps -q)           # Stop all containers
docker container prune -f             # Remove all stopped containers

docker network ls                     # List docker networks
docker network rm <network_name>      # Remove a specific network
docker network prune -f               # Remove all unused networks
docker system prune                   # Remove stopped containers, unused networks and cache, dangling images

docker images                         # List images
docker image prune                    # Remove untagged images
docker rmi <image_name_or_id>         # Remove a specific image
docker builder prune                  # Clear the cache system-wide

aerial-autonomy-stack
│
├── aas-gym
│   └── src
│       └── aas_gym
│           └── aas_env.py                          # aerial-autonomy-stack as a Gymnasium environment
│
├── aircraft
│   ├── aircraft_ws
│   │   └── src
│   │       ├── autopilot_interface                 # Ardupilot/PX4 high-level actions (Takeoff, Orbit, Offboard, Land)
│   │       ├── mission                             # Orchestrator of the actions in `autopilot_interface` 
│   │       ├── offboard_control                    # Low-level references for the Offboard action in `autopilot_interface` 
│   │       ├── state_sharing                       # Publisher of the `/state_sharing_drone_N` topic broadcasted by Zenoh
│   │       └── yolo_py                             # GStreamer video acquisition and publisher of YOLO bounding boxes
│   │
│   └── aircraft.yml.erb                            # Aircraft docker tmux entrypoint
│
├── ground
│   ├── ground_ws
│   │   └── src
│   │       └── ground_system                       # Publisher of topic `/tracks` broadcasted by Zenoh
│   │
│   └── ground.yml.erb                              # Ground docker tmux entrypoint
│
├── scripts
│   ├── docker
│   │   ├── Dockerfile.aircraft                     # Docker image for aircraft simulation and deployment
│   │   ├── Dockerfile.ground                       # Docker image for ground system simulation and deployment
│   │   └── Dockerfile.simulation                   # Docker image for SITL and HITL simulation
│   │
│   ├── deploy_build.sh                             # Build `Dockerfile.aircraft` for arm64/Orin
│   ├── deploy_run.sh                               # Start the aircraft docker on arm64/Orin or the ground docker on amd64 (deploy or HITL)
│   │
│   ├── gym_run.py                                  # Examples for the Gymnasium aas-gym package
│   │
│   ├── sim_build.sh                                # Build all dockerfiles for amd64/simulation
│   └── sim_run.sh                                  # Start the simulation (SITL or HITL)
│
└── simulation
    ├── simulation_resources
    │   ├── aircraft_models
    │   │   ├── alti_transition_quad                # ArduPilot VTOL model
    │   │   ├── iris_with_ardupilot                 # ArduPilot quad model
    │   │   ├── sensor_camera                       # Camera model
    │   │   ├── sensor_lidar                        # LiDAR model
    │   │   ├── standard_vtol                       # PX4 VTOL model
    │   │   └── x500                                # PX4 quad model
    │   └── simulation_worlds
    │       ├── apple_orchard.sdf
    │       ├── impalpable_greyness.sdf
    │       ├── shibuya_crossing.sdf
    │       └── swiss_town.sdf
    │
    └── simulation.yml.erb                          # Simulation docker tmux entrypoint

cd aerial-autonomy-stack/scripts/
DEV=true ./sim_run.sh                                                                       # Starts one simulation-image, one ground-image, and one aircraft-image where the *_resources/ and *_ws/src/ folders are mounted from the host

cd /aas/aircraft_ws/                                                                        # Or cd /aas/ground_ws/
colcon build --symlink-install

tmuxinator start -p /aas/aircraft.yml.erb

tmuxinator start -p /aas/ground.yml.erb

tmuxinator start -p /aas/simulation.yml.erb