SUN - Simulated UAV Network

Architecture

                           ______  ___  __  ____    __
                          / __/ / / / |/ / / __/__ / /___ _____
                         _\ \/ /_/ /    / _\ \/ -_) __/ // / _ \
                        /___/\____/_/|_/ /___/\__/\__/\_,_/ .__/
                                                         /_/

           ┏━━━━━━━━━━━━━━━━━━┓                           ┏━━━━━━━━━━━━━━━━┓
           ┃  sun_station_1   ┃                           ┃  sun_uav_1     ┃
           ┃                  ┃                           ┃                ┃
           ┃  QGroundControl  ┃─ ─ ┐                 ┌ ─ ─┃  PX4 + Gazebo  ┃
           ┃                  ┃                           ┃                ┃
           ┃  vnc             ┃    │                 │    ┃                ┃
           ┗━━━━━━━━━━━━━━━━━━┛                           ┗━━━━━━━━━━━━━━━━┛
                     │             │                 │              │
                     │          ┏━━━─━─━━━━━━━━━━━━━─━━━━━┓         │
                     │          ┃  sun_core_1             ┃         │
                     │          ┃                         ┃         │
                     │          ┃  core-network emulator  ┃         │
                     │          ┃                         ┃         │
                     │          ┃  vnc / ssh              ┃         │
                     │          ┗━━━━━━━━━━━━━━━━━━━━━━━━━┛         │
                     │                       │                      │
                     ▼                       ▼                      ▼
            ┌────────────────────────────────────────────────────────────────┐
            │                        docker host                             │
            └────────────────────────────────────────────────────────────────┘

Requirements

• docker
• docker-compose
• vnc viewer

IMPORTANT You might need ebtables and sch_netem kernel modules loaded!

IMPORTANT TOO As sun uses relative paths, it must be called from the root of this repository!

Building demo setup

$ ./sun build

Creating a new scenario

$ ./sun new myscenario

This will generate a new scenario under scenarios/ with an empty autostart.sh, some px4-params.txt, an env.conf and an experiment.conf plus a few example core network topologies (default one active: uav_direct_rj45.xml).

Running a scenario setup

$ ./sun run scenarios/demodays2022

afterwards, connect with vnc viewer of choice to:

• groundstation at vnc://127.0.0.1:15901
• core network at vnc://127.0.0.1:15902

VNC password: makitest

SSH is also available on the core node at 127.0.0.1:2022

• username root
• password netsim
• alternatively: SSHKEY from docker-compose.yml

Stop the running simulation by pressing CTRL+C in the terminal.

You can access the 3 different machines also via docker:

• station: docker exec -it sun_station_1 bash
• uav: docker exec -it sun_uav_1 bash
• core: docker exec -it sun_core_1 bash

For your convenience, you can use ./sun nsh <node name> which opens a bash on either of the three docker instances or directly on any virtual node name running within core.

$ ./sun
SUN - Simulated UAV Network

Usage: sun [command] [command options]
Commands:
  run <scenario_dir>    start simulation scenarion
  new <scenario_name>   create new scenario
  build                 build all docker images
  clear                 remove scenario results and temporary files
  nsh <node_name>       open shell for given node
  version               print version information
  help                  print this help

Nodes: uav|core|station|<coreemu virtual node name>

Different network setups

There are routed and direct network setups. At the moment advanced PHY layers such as EMANE require routed scenarios. Any scenario file specified in shared/experiment.conf that begins with uav_routed will get the network setup of the default uav_routed.xml scenario. Any other scenario names will be setup as if the station and uav instances where directly within the virtual network.