uOttawa Rocketry Antenna Tracker

Summed up, track the rocket and follow it with an antenna

Important info

Currently this repository is split into 2 sections.

LegacyAntennaTrackerWS (legacy repository)
&
AntennaTrackerWS (in work repository)

Switch Information

Pull Down Switches
Yaw Switch = Pin 15 = GPIO 22
Pitch Switch = Pin 16 = GPIO 23
Refer to pineout.xyz

Build options

There are currently 2 ways to build this program.
1. Docker
2. Ubuntu 24.04 LTS

If you just plan to only use this program. I recommend using docker compose.

Initial step

Clone repository

git clone <repo-url>
cd antenna-tracker/AntennaTrackerWS

Docker compose

In docker-compose.yml set the environment variable to what is required for your use case.

environment:
      - MOCK_GPIO=1
      - OSCILLATE_SWITCHES=1
      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}

Then run

docker compose up

Ubuntu 24.04 LTS

Install These technologies
Python3
ROS 2 Jazzy Jalisco

Run these commands

Install mavros

sudo apt install ros-jazzy-mavros
wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh
./install_geographiclib_datasets.sh

Install Phidget22 Libraries

curl -fsSL https://www.phidgets.com/downloads/setup_linux | sudo -E bash -
sudo apt install -y libphidget22

Install gpiozero

sudo apt install gpiozero

Install Python deps

python -m venv .venv
source .venv/bin/activate
pip3 install -r requirements.txt

Notes

When running colcon build, make sure to deactivate the virtual environment.

Rviz SITL testing (Very W.I.P)

Currently this does not work, and is more a proof of concept.

Follow these commands to try it out.

source install/setup.bash
colcon build --symlink-install --packages-select tracker_testing
ros2 launch tracker_testing test_launch.py