xplane-acasx

Objectives

This repository contains packages developed for XPlane11 ACAS SxU simulation, developed during summer'20 as part of the RISS program at CMU Air Lab.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

The software you need to run the program

* Obtain a copy of the ACAS sxU algorithm to test the logic on the xplane flight simulator
* Ubuntu 18.04, ROS Melodic
* XPlane11 Flight Simulator
* XPlane- Connect Plugin (follow instructions on the link below to have the plugin show on the XPlane11 window)
    https://github.com/nasa/XPlaneConnect
* Python3
    

### Installing

XPlane Connect can be installed with the link shown above. Once installed, make sure to put the contents 
in the following directory: [X-Plane Directory]/Resources/plugins/. This will enable you to use the 
plugin in the XPlane environment

pip3 install pygame

Move the Taranis folder to the /XPlane/Aircrafts directory. The Taranis is the main aircraft used since it fits the dimensionsions that 
ACAS sXu requires

## Running

Follow the instructions below:

Run the XPlane Application, select the Taranis as the main aicraft used., and once you are in the scene,press b to unlock the brakes of the aircraft. Next, run the following script in this order:

Open a terminal to run each command (no pid).

• roscore
• rosrun xplane_data datapublish.py (right arrow into pygame window to spawn aircraft )
• run the following in one terminal:
  • export ACASX_JULIA_HOME=$(pwd)/../Julia.1.0.3.linux/bin
  • export PATH=$(pwd)/../Julia.1.0.3.linux/bin:$PATH
  • python3 sxu_ros.py

Open a terminal to run each command (pid).

• roscore
• rosrun xplane_data p_control_xplane.py (right arrow into pygame window to spawn aircraft)
• run the following in one terminal:
  • export ACASX_JULIA_HOME=$(pwd)/../Julia.1.0.3.linux/bin
  • export PATH=$(pwd)/../Julia.1.0.3.linux/bin:$PATH
  • python3 sxu_ros.py

Authors

• Fausto Vega - REU student - Link
• Mohammadreza Mousaei - Grad Mentor - Link

Acknowledgments

• Thank you to the Robotic Institute of Summer Scholars (RISS) program at Carnegie Mellon University for this great opportunity.