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ROSBuzz_MISTLab
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remove prints

This commit is contained in:
Administrator 2017-06-09 16:22:25 -04:00
parent b5a08f2512
commit 118b3ddde5
4 changed files with 79 additions and 1 deletions
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2
CMakeLists.txt
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@ -46,6 +46,8 @@ include_directories(
include ${rosbuzz_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
# set the path to the library folder
link_directories(/usr/local/lib)
# Executables
add_executable(rosbuzz_node src/rosbuzz.cpp

59
launch/husky.launch Normal file
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@ -0,0 +1,59 @@
<launch>
<group ns="gps">
<!-- NavSat Serial -->
<node pkg="nmea_comms" type="serial_node" name="nmea_serial_node" output="screen">
<param name="port" value="$(optenv HUSKY_NAVSAT_PORT /dev/clearpath/gps)" />
<param name="baud" value="$(optenv HUSKY_NAVSAT_BAUD 19200)" />
</node>
<!-- NavSat Processing -->
<node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver">
</node>
</group>
<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" >
<rosparam>
magnetic_declination_radians: 0
roll_offset: 0
pitch_offset: 0
yaw_offset: 0
zero_altitude: false
broadcast_utm_transform: false
</rosparam>
</node>
<!-- run xbee>
<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" / -->
<!-- xmee_mav Drone type and Commununication Mode -->
<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="master solo" output="screen" -->
<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
<!-- node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave solo" output="screen" -->
<!--node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" -->
<!-- xmee_mav Topics and Services Names -->
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_cmd" />
<node pkg="dji_sdk_mistlab" type="dji_sdk_mav" name="dji_sdk_mav" output="screen"/>
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="$(find rosbuzz)/launch/launch_config/husky.yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/script/testflockfev.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="xbee_status_srv" value="xbee_status"/>
<param name="xbee_plugged" value="true"/>
<param name="name" value="husky1"/>
<param name="stand_by" value="$(find rosbuzz)/script/stand_by.bzz"/>
</node>
</launch>

17
launch/launch_config/husky.yaml Normal file
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@ -0,0 +1,17 @@
topics:
gps : global_position
localpos : local_position
battery : power_status
status : flight_status
fcclient : dji_mavcmd
setpoint : setpoint_position/local
armclient: dji_mavarm
modeclient: dji_mavmode
altitude: rel_alt
stream: set_stream_rate
type:
gps : sensor_msgs/NavSatFix
battery : mavros_msgs/BatteryStatus
status : mavros_msgs/ExtendedState
altitude: std_msgs/Float64

2
src/roscontroller.cpp
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@ -128,7 +128,7 @@ namespace rosbzz_node{
/*Set no of robots for updates TODO only when not updating*/
//if(multi_msg)
updates_set_robots(no_of_robots);
ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1);
//ROS_INFO("ROBOTS: %i , acutal : %i",(int)no_of_robots,(int)buzzdict_size(buzz_utility::get_vm()->swarmmembers)+1);
/*run once*/
ros::spinOnce();
/*loop rate of ros*/