Nebula

An application system consisting of an edge server and a desktop client (built with PySide and pymavlink), communicating over ZeroMQ to control the Nebula Team's Teknofest 2025 drone, featuring ArduPilot integration and planned image-based package loading.

Demo

Features

• Control Station: Built for monitoring and controlling the drone
• Gazebo Simulation: Gazebo and ArduPilot integration
• Machine Learning Integration: Object detection and monitoring with YOLO
• GPS Coordinate Estimation: Precise positioning and navigation
• Controls: Monitoring and controlling interface

Technologies Used

• Gazebo: Simulation tool for robotics and autonomous systems
• ArduPilot: Open-source autopilot system supporting various types of vehicles
• PySide6: Desktop application built with PySide6 using QFluentWidget library
• YOLO: Object detection system for identifying and tracking objects
• ZeroMQ: High-performance messaging library for asynchronous communication between edge server and desktop application

Installation

Prerequisites

• Operating System: Ubuntu 22.04 or later
• Hardware: CUDA-enabled GPU for accelerated processing

Setup

1. Clone the repository (uses Git submodules):

   git clone https://github.com/amar-jay/nebula.git --recursive

2. Setup ArduPilot:

   • Follow ArduPilot Linux setup guide
   • Follow Gazebo and GStreamer setup guide

3. Install Python packages:

   python3 -m venv .venv
   source .venv/bin/activate
   pip install --upgrade pip
   pip install -r requirements.txt

Usage

Running the Simulation

1. Start simulation:

   make run_sim

2. Launch Control Station:

   make app

3. Launch Controls (optional):

    make sim_server  # for real drone use `make server`

Running with Real Drone

Note: Currently experimental - to check if it can work across herelink

make server
make app