# ghcr.io images are re-built from `main` every Friday night
for name in aircraft ground simulation; do
  docker pull ghcr.io/jacopopan/${name}-image:latest
  docker tag ghcr.io/jacopopan/${name}-image:latest ${name}-image:latest
done

# On the Jetson with IPs ending in 90.1
HITL=true DRONE_ID=1 SIM_SUBNET=172.30 AIR_SUBNET=10.223 ./deploy_run.sh                      # Add HEADLESS=false if a screen is connected to the Jetson

# On the Jetson with IPs ending in 90.2
HITL=true DRONE_ID=2 SIM_SUBNET=172.30 AIR_SUBNET=10.223 ./deploy_run.sh                      # Add HEADLESS=false if a screen is connected to the Jetson

# On the computer with IPs ending in 90.100
HITL=true NUM_QUADS=2 SIM_SUBNET=172.30 ./sim_run.sh

# On the computer with IPs ending in 90.101
HITL=true GROUND=true NUM_QUADS=2 AIR_SUBNET=10.223 HEADLESS=false ./deploy_run.sh

wget https://repo.anaconda.com/archive/Anaconda3-2025.12-2-Linux-x86_64.sh # Or a newer version in https://repo.anaconda.com/archive/
bash Anaconda3-2025.12-2-Linux-x86_64.sh              # Install; start a new terminal
conda config --set auto_activate_base false           # Turn off auto initialization of (base); start a new terminal
conda update --all -n base -c defaults                # Update to the latest conda version
conda create -n aas python=3.12                       # Latest Python version beyond "bugfix" status https://devguide.python.org/versions/

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)
│   │       ├── drone_traffic_client                  # Subscriber of topic `/dtc_commands` enforcing high-level actions from the ground
│   │       ├── imu_publisher                         # Multiplexer between PX4/DDS and ArduPilot/MAVROS sensor topics
│   │       ├── 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
│   │       ├── drone_traffic_controller              # Publisher of topic `/dtc_commands` broadcasted by Zenoh
│   │       └── ground_system                         # Publisher of topic `/tracks` broadcasted by Zenoh
│   │
│   └── ground.yml.erb                                # Ground docker tmux entrypoint
│
├── simulation
│   ├── simulation_resources
│   │   ├── aircraft_models
│   │   │   ├── alti_transition_quad                  # ArduPilot VTOL model
│   │   │   ├── iris_with_ardupilot                   # ArduPilot quad model
│   │   │   ├── sensor_camera                         # Camera model
│   │   │   ├── sensor_gimbal                         # 3D gimbal used with sensor_camera
│   │   │   ├── sensor_lidar                          # LiDAR model
│   │   │   ├── standard_vtol                         # PX4 VTOL model
│   │   │   ├── x500                                  # PX4 quad model
│   │   │   └── sensor_config.yaml                    # Intrinsics and extrinsics for all sensor and vehicle models
│   │   └── simulation_worlds
│   │       ├── apple_orchard.sdf
│   │       ├── impalpable_greyness.sdf
│   │       ├── shibuya_crossing.sdf
│   │       ├── swiss_town.sdf
│   │       └── waterworld.sdf
│   │
│   └── simulation.yml.erb                            # Simulation docker tmux entrypoint
│
└── tools_and_docs
    ├── docker
    │   ├── aircraft.dockerfile                       # Docker image for aircraft simulation and deployment
    │   ├── ground.dockerfile                         # Docker image for ground system simulation and deployment
    │   └── simulation.dockerfile                     # Docker image for SITL and HITL simulation
    │
    ├── deploy_build.sh                               # Build `aircraft.dockerfile` 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)