CloudCare (Multi-UAV Simulation + Web Control)

CloudCare is a local simulation setup for running multiple PX4 SITL drones and controlling them from a Flask web UI. This repo focuses on:

• A tmux-based simulator launcher (mytmux)
• A web control server (uav_web_control)
• Simulation cases (initial positions and setpoint lists)

Quick Start (Simulation + Web UI)

1) Start the simulation (tmuxinator)

The tmux profile launches:

• PX4 SITL multi-vehicle simulation
• QGroundControl
• MicroXRCEAgent

cd src/mytmux/multi_tmux
tmuxinator

This uses:

• PX4 Autopilot at ~/PX4-Autopilot
• QGroundControl at ~/QGroundControl.AppImage
• MicroXRCEAgent on UDP port 8888

If those paths differ on your machine, edit:

• src/mytmux/multi_tmux/.tmuxinator.yml

2) Start the web server

cd src/uav_web_control
python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

# Start rosbridge websocket (default port 9090)
# Example:
# ros2 launch rosbridge_server rosbridge_websocket_launch.xml

export FLASK_APP=app.py
flask run --host=0.0.0.0

Open:

• http://localhost:5000

The web server publishes and subscribes via rosbridge websocket.

Optional env vars:

• ROSBRIDGE_HOST (default localhost)
• ROSBRIDGE_PORT (default 9090)
• ROSBRIDGE_USE_SSL (true/false)

Simulation Cases (Initial Poses + Setpoints)

"Cases" live in the configuration files that define spawn locations and mission setpoints.

Primary case file:

• src/px4_swarm_controller/config/drones.yaml
  • initial_positions: spawn positions for each drone ID
  • setpoints: ordered lists of waypoints per drone (x, y, z, yaw)

Secondary case file (used by the web UI if px4_swarm_controller config is missing):

• src/uav_web_control/config/config.yaml
  • initial_positions: grid positions
  • geo_origin: map origin for lat/lon conversions

If you want a smaller demo case, copy and edit:

• src/uav_web_control/config/uavs.yaml.org -> src/uav_web_control/config/uavs.yaml

Other Ways To Run The Simulator

Option A: PX4 SITL multi-run script

PX4 includes a multi-vehicle script. The tmuxinator profile already calls it, but you can run it manually:

cd ~/PX4-Autopilot/Tools/simulation/gazebo-classic
./sitl_multiple_run.sh -n 20

Option B: Simple 3-UAV script

bash src/install_scripts/multi_uavs_sim_env.sh

This opens GNOME Terminal tabs and starts 3 PX4 instances plus the XRCE agent.

Map Calibration (SITL)

If your UAV GPS markers do not align with the map:

1. Open a UAV's Open Mission view.
2. Click the map where the UAV should appear.
3. Click Calibrate Map.

Notes:

• Calibration is per-UAV and stored in the browser (clears on reload).
• Goals are adjusted automatically using the calibration offset.

Arm / Offboard Notes

• The Arm button publishes a px4_msgs/msg/VehicleCommand via rosbridge to /px4_<id>/fmu/in/vehicle_command.
• Ensure rosbridge websocket is running and accessible.

Repo Layout

• src/mytmux/multi_tmux/.tmuxinator.yml: tmux launcher
• src/uav_web_control/: Flask web UI + control endpoints
• src/px4_swarm_controller/: ROS2 control stack + configs
• src/install_scripts/: helper scripts

Troubleshooting

• No UAVs appear: check src/px4_swarm_controller/config/drones.yaml or create src/uav_web_control/config/uavs.yaml.
• Arm/Setpoint fails: confirm ROS2 is sourced and px4_msgs is built/available.
• Gazebo not launching: verify PX4 build exists at ~/PX4-Autopilot/build/px4_sitl_default.