Aj/tasks panel (#332)

* Many changes to remove encompassing btree

Phase 1 — New action definitions:
- task_msgs/action/TakeoffTask.action — new
- task_msgs/action/LandTask.action — new
- task_msgs/action/FixedTrajectoryTask.action — goal updated to FixedTrajectory spec

Phase 2 — New executables:
- takeoff_landing_task.cpp — new takeoff_landing_task executable with TakeoffTask + LandTask action servers (precondition checks, reuses TakeoffTrajectory)
- fixed_trajectory_task.cpp — new fixed_trajectory_task executable in trajectory_controller package (ports all 6 trajectory types from Python)
- behavior/drone_safety_monitor/ — moved here, adds command topic (pause/resume/rewind) and auto-pause on state estimate timeout

Phase 3 — Launch file updates:

- local.launch.xml and local_droan_cpu.launch.xml — replaced old nodes with new action server nodes
- behavior.launch.xml — replaced BT+BehaviorExecutive with just drone_safety_monitor
- Interface bringup and px4_interface launch — removed drone_safety_monitor (now in behavior bringup)

Phase 4 — Deleted:
behavior_tree/, behavior_executive/, rqt_fixed_trajectory_generator/, interface/drone_safety_monitor/, both copies of fixed_trajectory_generator.py

* Fix build errors

* Remove old behavior tree example

* Fix landing task so that it subscribes to mavros to listen to if landing succeeds

* Add subfolders for rviz, rqt, foxglove

* Add rviz plugins

* Fix jazzy compatibility

* Add task panel plugin for rviz

* Add docs to tasks panel, ensure only one task execute at a time

* Try add icons but they're rendering as blocks, idk why

* Ff

* Update rviz

* Update rviz

* Update tasks panel to use navigate tool

* Fix waypoints panel to be more intuitive

* Switch isaac default to standalone script mode

* Change default takeoff height to 10.0

* Update readmes

* Update picture

* Add simple logic to ensure drone must be airborne before other tasks

* Fix disarm on land and set is_airborne false

* Bump version to 0.18.0-alpha.4

* Remove rqt

* Add media

Author: andrewjong

.env

@@ -11,7 +11,7 @@
 PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
-VERSION="0.18.0-alpha.3"
+VERSION="0.18.0-alpha.4"
 # Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
 DOCKER_IMAGE_BUILD_MODE="dev"  
 # Where to push and pull images from. Can replace with your docker hub username if using docker hub.
@@ -30,7 +30,7 @@ RECORD_BAGS="false"  # "true" or "false"
 # ============== ISAAC SIM =====================
 ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
 # Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
-ISAAC_SIM_USE_STANDALONE="false" # "true" or "false"
+ISAAC_SIM_USE_STANDALONE="true" # "true" or "false"
 # Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
 ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
 PLAY_SIM_ON_START="false"

.gitmodules

@@ -8,9 +8,12 @@
 	path = robot/ros_ws/src/perception/macvo_ros2/macvo_ros2/macvo
 	url = https://github.com/MAC-VO/MAC-VO.git
 [submodule "robot/ros_ws/src/rviz_behavior_tree_panel/xdot_cpp"]
-	path = common/ros_packages/gui/rviz_behavior_tree_panel/xdot_cpp
+	path = common/ros_packages/gui/rviz/rviz_behavior_tree_panel/xdot_cpp
 	url = https://github.com/castacks/xdot_cpp.git
 [submodule "simulation/isaac-sim/extensions/PegasusSimulator"]
 	path = simulation/isaac-sim/extensions/PegasusSimulator
 	url = https://github.com/castacks/PegasusSimulator-AirStack-Integration.git
 
+[submodule "common/ros_packages/gui/rviz/rviz_polygon_selection_tool"]
+	path = common/ros_packages/gui/rviz/rviz_polygon_selection_tool
+	url = https://github.com/swri-robotics/rviz_polygon_selection_tool.git

common/ros_packages/desktop_bringup/launch/gcs.launch.xml

@@ -12,24 +12,6 @@
   <?ignore
   <node pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share desktop_bringup)/rviz/gcs.rviz --ros-args --log-level INFO" output="screen" respawn="true" respawn_delay="1" />
     ?>
-  
-
-  <node pkg="rqt_gui" exec="rqt_gui"
-    args="--perspective-file $(find-pkg-share rqt_gcs)/config/gcs.perspective --ros-args --log-level INFO"
-    output="screen" respawn="true" respawn_delay="1" />
-
-  <?ignore
-  <executable cmd="bash -c 'DISPLAY=$DISPLAY XAUTHORITY=$XAUTHORITY foxglove-studio --no-sandbox'" output="screen"/>
-
-  <node pkg="foxglove_bridge" exec="foxglove_bridge" output="screen" respawn="true" respawn_delay="1">
-    <param name="port" value="8765" />
-    <param name="use_sim_time" value="$(var sim)" />
-  </node>
-  ?>
-
-
-   
-
   <!-- ===================== -->
 
 </launch>

common/ros_packages/desktop_bringup/launch/robot.launch.xml

@@ -16,13 +16,6 @@
     <node pkg="rviz2" exec="rviz2"
       args="-d $(find-pkg-share desktop_bringup)/rviz/robot.rviz --ros-args --log-level INFO"
       output="screen" respawn="true" respawn_delay="1" />
-
-    <push-ros-namespace namespace="behavior" />
-    <node pkg="rqt_gui" exec="rqt_gui"
-      args="--perspective-file $(find-pkg-share desktop_bringup)/config/core.perspective">
-      <remap from="fixed_trajectory_command"
-        to="/$(env ROBOT_NAME)/fixed_trajectory_generator/fixed_trajectory_command" />
-    </node>
   </group>
 
 

common/ros_packages/desktop_bringup/rviz/robot.rviz

@@ -1,27 +1,24 @@
 Panels:
   - Class: rviz_common/Displays
-    Help Height: 70
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
         - /TF1/Frames1
-        - /Sensors1
-        - /Perception1/StereoImageProc Disparity1
+        - /Local1
         - /Local1/DROAN1
         - /Local1/DROAN1/Trimmed Global Plan for DROAN1/Topic1
         - /Local1/DROAN1/Droan GPU1
         - /Local1/DROAN1/Droan GPU1/Traj Debug1/Namespaces1
-        - /Global1
+        - /Local1/DROAN1/Global Plan Vis1
         - /Global1/Global Plan1
-      Splitter Ratio: 0.3440559506416321
-    Tree Height: 480
+      Splitter Ratio: 0.5792563557624817
+    Tree Height: 693
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
+    Expanded: ~
     Name: Tool Properties
     Splitter Ratio: 0.5886790156364441
   - Class: rviz_common/Views
@@ -33,11 +30,23 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: StereoImageProc Disparity
+    SyncSource: Foreground Background Cloud
   - Class: rviz_behavior_tree_panel::BehaviorTreePanel
     Name: BehaviorTreePanel
-    topic: behavior/behavior_tree_graphviz
+    topic: /robot_1/behavior/behavior_tree_graphviz
     zoom_factor: 0.1919851303100586
+  - Class: rviz_tasks_panel::TasksPanel
+    Name: TasksPanel
+    executor_0: /robot_1/tasks/takeoff
+    executor_1: /robot_1/tasks/land
+    executor_2: /robot_1/tasks/navigate
+    executor_3: /robot_1/tasks/exploration
+    executor_4: ""
+    executor_5: ""
+    executor_6: ""
+    executor_7: ""
+    executor_8: /robot_1/tasks/fixed_trajectory
+    robot: /robot_1
 Visualization Manager:
   Class: ""
   Displays:
@@ -77,7 +86,7 @@ Visualization Manager:
         base_link_frd:
           Value: true
         base_link_stabilized:
-          Value: false
+          Value: true
         camera_left:
           Value: true
         camera_right:
@@ -87,11 +96,9 @@ Visualization Manager:
         lidar:
           Value: false
         look_ahead_point:
-          Value: false
+          Value: true
         look_ahead_point_stabilized:
-          Value: false
-        macvo_ned:
-          Value: false
+          Value: true
         map:
           Value: true
         map_ned:
@@ -109,9 +116,9 @@ Visualization Manager:
         rotor3:
           Value: true
         tracking_point:
-          Value: false
+          Value: true
         tracking_point_stabilized:
-          Value: false
+          Value: true
         world:
           Value: false
       Marker Scale: 0.30000001192092896
@@ -129,8 +136,7 @@ Visualization Manager:
                     {}
                 base_link_ZED_X:
                   camera_left:
-                    macvo_ned:
-                      {}
+                    {}
                   camera_right:
                     {}
                   imu:
@@ -476,7 +482,8 @@ Visualization Manager:
               Enabled: true
               Name: Trimmed Global Plan for DROAN
               Namespaces:
-                {}
+                global_plan: true
+                global_plan_extra_text: true
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
@@ -641,7 +648,7 @@ Visualization Manager:
                     Reliability Policy: Reliable
                     Value: droan/graph_vis
                   Value: true
-              Enabled: true
+              Enabled: false
               Name: Droan GPU
             - Class: rviz_default_plugins/MarkerArray
               Enabled: true
@@ -659,7 +666,8 @@ Visualization Manager:
               Enabled: true
               Name: Global Plan Vis
               Namespaces:
-                {}
+                global_plan: true
+                global_plan_extra_text: true
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
@@ -671,7 +679,7 @@ Visualization Manager:
               Enabled: true
               Name: Rewind Info
               Namespaces:
-                {}
+                rewind_info: true
               Topic:
                 Depth: 5
                 Durability Policy: Volatile
@@ -710,6 +718,15 @@ Visualization Manager:
               Value: false
           Enabled: true
           Name: Trajectory Controller
+        - Class: rviz_default_plugins/InteractiveMarkers
+          Enable Transparency: true
+          Enabled: true
+          Interactive Markers Namespace: /robot_1/waypoint_plugin
+          Name: Waypoints InteractiveMarkers
+          Show Axes: true
+          Show Descriptions: true
+          Show Visual Aids: false
+          Value: true
       Enabled: true
       Name: Local
     - Class: rviz_common/Group
@@ -757,20 +774,6 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: Global
-    - Class: rviz_default_plugins/Image
-      Enabled: true
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: Image
-      Normalize Range: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: sensors/front_stereo/left/image_rect
-      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -810,32 +813,49 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /clicked_point
+    - Class: rviz_polygon_selection_tool/PolygonSelectionTool
+      Close loop: true
+      Lasso mode: true
+      Line Color: 255; 0; 0
+      Patch size: 15
+      Point Color: 255; 0; 0
+      Point Generation Gap: 0.0020000000949949026
+      Point Size: 50
+      Render as Overlay: false
+      Service name: get_selection
+      Show Text: true
+      Text Size: 0.014999999664723873
+    - Class: waypoint_rviz2_plugin/WaypointTool
+      WaypointTool:
+        default_height: 10
+        frame_id: map
+        topic: waypoints
   Transformation:
     Current:
       Class: rviz_default_plugins/TF
   Value: true
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 26.301408767700195
+      Distance: 37.564666748046875
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 6.924289703369141
-        Y: -7.847400188446045
-        Z: -4.3323540687561035
+        X: 25.773038864135742
+        Y: -5.22532320022583
+        Z: -18.542400360107422
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5103968977928162
+      Pitch: 0.6403977274894714
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 2.279876232147217
+      Yaw: 2.878566026687622
     Saved: ~
 Window Geometry:
   BehaviorTreePanel:
@@ -849,13 +869,13 @@ Window Geometry:
   Height: 1376
   Hide Left Dock: false
   Hide Right Dock: false
-  Image:
-    collapsed: false
   MACVO Disparity:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
+  TasksPanel:
+    collapsed: false
   Time:
     collapsed: false
   Tool Properties: