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update from solo - xbee fix

This commit is contained in:
Ivan Svogor 2017-05-11 01:57:41 +00:00
parent 6a1c51fbd3
commit 2b9c62df0e
6 changed files with 35 additions and 16 deletions
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26
launch/rosbuzz-solo.launch
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@ -20,23 +20,35 @@
<!-- set streaming rate -->
<!-- node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" / -->
<!-- run xbee -->
<!-- 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" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkinKin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/testsolo.bzz" />
<param name="bzzfile_name" value="/home/pi/ros_catkinKin_ws/src/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="false"/>
<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="solos1"/>
<param name="stand_by" value="/home/pi/ros_catkinKin_ws/src/ROSBuzz/script/stand_by.bzz"/>
</node>

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script/testflockfev.bdb
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script/testflockfev.bo
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9
script/testflockfev.bzz
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@ -1,6 +1,7 @@
# We need this for 2D vectors
# Make sure you pass the correct include path to "bzzc -I <path1:path2> ..."
include "vec2.bzz"
#include "vec2.bzz"
include "/home/ubuntu/buzz/src/include/vec2.bzz"
####################################################################################################
# Updater related
# This should be here for the updater to work, changing position of code will crash the updater
@ -11,12 +12,12 @@ function updated_neigh(){
neighbors.broadcast(updated, update_no)
}
TARGET_ALTITUDE = 3.0
TARGET_ALTITUDE = 5.0
CURSTATE = "TURNEDOFF"
# Lennard-Jones parameters
TARGET = 10.0 #0.000001001
EPSILON = 18.0 #0.001
TARGET = 12.0 #0.000001001
EPSILON = 6.0 #0.001
# Lennard-Jones interaction magnitude
function lj_magnitude(dist, target, epsilon) {

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script/testsolo.bdb
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16
src/roscontroller.cpp
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@ -30,10 +30,7 @@ namespace rosbzz_node{
// set stream rate - wait for the FC to be started
SetStreamRate(0, 10, 1);
// Get Robot Id - wait for Xbee to be started
if(xbeeplugged)
GetRobotId();
else
robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
setpoint_counter = 0;
fcu_timeout = TIMEOUT;
@ -42,6 +39,13 @@ namespace rosbzz_node{
ros::Duration(0.5).sleep();
ros::spinOnce();
}
if(xbeeplugged){
GetRobotId();
} else {
robot_id= strtol(robot_name.c_str() + 5, NULL, 10);
}
}
/*---------------------
@ -59,7 +63,7 @@ namespace rosbzz_node{
void roscontroller::GetRobotId()
{
///*
mavros_msgs::ParamGet::Request robot_id_srv_request; robot_id_srv_request.param_id="id";
mavros_msgs::ParamGet::Response robot_id_srv_response;
while(!xbeestatus_srv.call(robot_id_srv_request,robot_id_srv_response)){
@ -167,6 +171,8 @@ namespace rosbzz_node{
}else
n_c.getParam("xbee_status_srv", xbeesrv_name);
std::cout<< "////////////////// " << xbeesrv_name;
GetSubscriptionParameters(n_c);
// initialize topics to null?