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ROSBuzz_MISTLab
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Merge branch 'master' of https://github.com/MISTLab/ROSBuzz

This commit is contained in:
dave 2019-04-10 14:57:11 -04:00
parent ea2e9348c1 bb547cd1a7
commit 1e9e5b8ae6
2 changed files with 41 additions and 3 deletions
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28
launch/groundstation.launch Normal file
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@ -0,0 +1,28 @@
<?xml version="1.0"?>
<launch>
<arg name="xbee" default="1"/>
<arg name="name" default="robot0"/>
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" >
<arg name="port" value="9090"/>
</include>
<group if="$(arg xbee)">
<include file="$(find xbee_ros_node)/launch/xbeemav.launch" />
</group>
<include file="$(find rosbuzz)/launch/rosbuzz.launch" >
<arg name="name" value="$(arg name)"/>
<arg name="xbee_plugged" value="false"/>
<arg name="script" value="main"/>
<arg name="setmode" value="false"/>
<arg name="latitude" value="29.067618"/>
<arg name="longitude" value="-13.662966"/>
</include>
<node pkg="rosbag" type="record" name="rosbag_groundstation"
args="record -o $(find rosbuzz)/buzz_scripts/log/GS- -a">
</node>
</launch>

16
readme.md
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@ -1,4 +1,4 @@
ROSBuzz
ROSBuzz
=========================
Description:
@ -16,7 +16,7 @@ Requirements
* Buzz:
Follow the required steps in [Buzz](https://github.com/MISTLab/ROSBuzz).
Follow the required steps in [Buzz](https://github.com/MISTLab/Buzz).
* ROS **base** binary distribution (Indigo or higher):
@ -36,8 +36,16 @@ mkdir -p ROS_WS/src
cd ROS_WS/src
git clone https://github.com/MISTLab/ROSBuzz rosbuzz
cd ..
catkin_make
catkin_make -DSIM=1 -DKIN=1
```
Compilation Flags
=================
Flags to be passed during compilation.
| Flag | Rationale |
|-------|------------------------------------------------|
| -DSIM | Indicates Compilation for robot or Simulation. |
| -DKIN | Indicates compilation for ROS Distro Kinetic |
Run
===
@ -47,6 +55,8 @@ To run the ROSBuzz package using the launch file, execute the following:
Have a look at the launch file to understand what parameters are available to suit your usage. All topics and services names are listed in `launch_config/topics.yaml`. Note : Before launching the ROSBuzz node, verify all the parameters in the launch file. A launch file using gdb is available too (rosbuzzd.launch).
A launch file for a groundstation is also available `launch/groundstation.launch`. It uses the robot ID = 0, which is detected as a groundstation by our Buzz scripts. It also has hardcoded GPS coordinates to avoid the need of a GPS sensor on the groundstation. While a groundstation is never required to deploy a swarm with ROSBuzz, it opens a websocket on ROS, useful to monitor the swarm and it creates a rosbag of the flight.
* Buzz scripts: Several behavioral scripts are included in the "buzz_Scripts" folder, such as "graphformGPS.bzz" uses in [1] and the "testaloneWP.bzz" to control a single drone with a ".csv" list of waypoints. The script "empty.bzz" is a template script.
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