Integrate gps of robot from isaacsim to wintak (#246)

* updating domain bridge to stream gps from robots to GCS

* updating robot gps topic naming

* adding docs for using TAK features

* adding demo config

* Updating the GCS setup to a script and project config files and creds pull from airlab-storage

* updating script for GCS setup

* updating dev files

* ros2cot_agent.py working

* ros2cot_agent in launch with mqtt

* docker setup with gcs_bringup and ros2cot_agent

* updating setup.py for ros2tak_tools

* cleaning demo_config.yaml

* updating ros2tak_tools

* successful build

* Update setup.py

* updating the tak_publisher.py and tak_subscriber.py to send and receive from the TAK chat

* adding tak_subscriber to the tak.launch.xml

* updating dev commands

* adding helper module

* adding chat2ros_agent.py for sending commands

* one file for all the COT messages

* updating docs

* updating docs

* refactoring and modularizing files

* adding tak_helper.py

* ros2cot_agent.py and chat2ros_agent.py working and integrated to tak.launch.xml

* docs for debugging mqtt

* setup gcs errors fix

* setup gcs validation

* Added straps_msgs submodule under common/ros_packages

* adding ROS_DOMAIN_ID

* updating casevac related docs and its CasualtyMeta for array

* adding straps_msgs

* refactor / Clean

* Casualty assessment

* Casualty assessment in TAK

* dockerfile update with sphinx in GCS

* Adding ROS_DOMAIN_ID

* cleaning docker-compose.yaml

* fixing ground-control-station-base-docker-compose.yaml

* validation on triage

* launch just the ground-control-station container:

* removing tak-docker-compose.yaml

* updating demo_config.yaml for gps_streaming

* refactoring setup_ground_control_station.sh

* updating domain_bridge.yaml and gcs Ros domain ID

* launch.sh and shutdown.sh script for airstack

* refactor setup_ground_control_station.sh

* documenting and cleaning

* aesthetics

* aesthetics colored

* Change relative paths to absolute paths from script

* Add pics, add .gitignore

* Clean dockerfile

* Add git hook to configure.sh

* Clean up script

* Add comment

* Remove ros domain id from docker env

* Remove straps msgs

---------

Co-authored-by: adi <[email protected]>
Co-authored-by: dtc@dtc-legion <dtc@dtc-legion>
Co-authored-by: Andrew Jong <[email protected]>

Author: 4 people

.env

@@ -1,10 +1,10 @@
 # This top-level .env file under AirStack/ defines variables that are propagated through docker-compose.yaml
 PROJECT_NAME="airstack"
 # auto-generated from git commit hash
-DOCKER_IMAGE_TAG="3f238b1"
+DOCKER_IMAGE_TAG="008839f"
 # 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/AFCA/fire_academy_faro_with_sky.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"
+ROBOT_ENV_FILE_NAME="robot.env"

common/ros_packages/straps_msgs

@@ -0,0 +1 @@
+Subproject commit 290987632f7486bca099f5552f49f4f9dd100112

configure.sh

@@ -56,3 +56,10 @@ read -r -p "API Token: " API_TOKEN
 if [ ! -z "${API_TOKEN}" ]; then
     sed "s/PASTE-YOUR-API-TOKEN/$API_TOKEN/g" $OMNI_PASS_SOURCE > $OMNI_PASS_DESTINATION
 fi
+
+# Git Hooks
+echo -e "${BOLDCYAN}3. Setting up Git Hooks${ENDCOLOR}"
+cp ${SCRIPT_DIR}/git-hooks/docker-versioning/update-docker-image-tag.pre-commit ${SCRIPT_DIR}/.git/hooks/pre-commit
+
+
+echo -e "${BOLDCYAN}Setup Complete${ENDCOLOR}"

docs/getting_started.md

@@ -75,13 +75,7 @@ docker compose push
 ## Launch
 
 ```bash
-xhost +  # allow docker access to X-Server
-
-# Make sure you are in the AirStack directory.
-
-# Start docker compose services. This launches Isaac Sim and the robots.
-#  You can append `--scale robot=[NUM_ROBOTS]` for more robots, default is 1
-docker compose up -d
+./launch.sh # This will launch the docker containers, isaac sim, and WinTAK
 ```
 
 This will automatically launch and play the Isaac scene specified under `AirStack/.env` (default is the Fire Academy).
@@ -99,5 +93,5 @@ You can also switch to `Fixed Trajectory` mode and hit `Publish` on the bottom r
 To shutdown and remove docker containers:
 
 ```bash
-docker compose down
+./shutdown.sh # This will stop and remove the docker containers, isaac sim, and WinTAK
 ```

docs/ground_control_station/asset/TAK_ROS_Arch.png

@@ -0,0 +1,87 @@
+# ROS2 CASEVAC Agent
+
+## Overview
+ROS2 CASEVAC Agent is a service that bridges ROS2 casualty information to TAK (Tactical Assault Kit) systems using MQTT as the transport layer. The agent subscribes to ROS topics containing casualty metadata and images, converts this information into CoT (Cursor on Target) format, and publishes it to an MQTT broker for TAK systems to consume.
+
+## Features
+- Subscribes to ROS casualty metadata and image topics
+- Converts casualty information into standard CoT format with ZMIST fields
+  - Z: Zap Number - Unique casualty identifier
+  - M: Mechanism of Injury
+  - I: Injuries Sustained
+  - S: Signs and Symptoms
+  - T: Treatments Rendered
+- Tracks multiple casualties simultaneously
+- Handles various injury types and severity levels
+- Transmits data over MQTT to TAK systems
+
+## Installation
+
+### Prerequisites
+- ROS2 (tested with Foxy/Humble)
+- Python 3.8+
+- paho-mqtt
+- PyTAK
+
+### Dependencies
+```bash
+pip install paho-mqtt pytak pyyaml
+```
+
+## Configuration
+Create a YAML configuration file with the following structure:
+
+```yaml
+project:
+  name: your_project_name
+
+services:
+  host: your_host_ip
+  mediator:
+    ros2casevac_agent:
+      topic_name: to_tak  # MQTT topic name for CoT messages
+      ros_casualty_meta_topic_name: '/casualty/meta'  # ROS topic for casualty metadata
+      ros_casualty_image_topic_name: '/casualty/image'  # ROS topic for casualty images
+
+mqtt:
+  host: mqtt_broker_ip
+  port: mqtt_broker_port
+  username: mqtt_username
+  password: mqtt_password
+```
+
+## Usage
+Run the agent with a configuration file:
+
+```bash
+ros2 run ros2tak_tools ros2casevac_agent --config path/to/your/config.yaml
+```
+
+## Message Types
+The agent expects the following ROS message types:
+- `airstack_msgs/CasualtyMeta`: Contains casualty metadata including:
+  - GPS coordinates
+  - Trauma assessments (head, torso, extremities)
+  - Vital signs (heart rate, respiratory rate)
+  - Critical conditions (hemorrhage, respiratory distress)
+  - Alertness indicators (ocular, verbal, motor)
+
+## How It Works
+1. The agent subscribes to the ROS topic for casualty metadata
+2. When new data is received, it updates an internal casualty tracking object
+3. If GPS data is available, it generates a CoT event in XML format
+4. The CoT event is published to the configured MQTT topic
+5. TAK systems subscribed to the MQTT topic receive and display the casualty information
+
+## Customization
+The code supports several enum types for different injury categories:
+- `TraumaType`: Different body regions (head, torso, extremities)
+- `TraumaSeverity`: Levels of trauma (normal, wound, amputation)
+- `OcularAlertness`: Eye response states
+- `AlertnessLevel`: Verbal and motor response states
+- `VitalType`: Types of vital signs
+- `ConditionType`: Critical conditions
+- `ConditionStatus`: Presence/absence of conditions
+
+## Author
+Aditya Rauniyar ([email protected])