flight test fixes
This commit is contained in:
parent
ce120426b3
commit
36b496d6d8
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@ -2,21 +2,13 @@
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<launch>
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<launch>
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<<<<<<< HEAD
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<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
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<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
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=======
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<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz" />
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>>>>>>> 9e9eb964b10f7fa49342b6eb629fc7a30e47c355
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<param name="rcclient" value="true" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="rc_cmd" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="fcclient_name" value="/djicmd" />
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<param name="fcclient_name" value="/dji_mavcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<<<<<<< HEAD
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<param name="robot_id" value="1"/>
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<param name="robot_id" value="1"/>
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=======
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<param name="robot_id" value="2"/>
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>>>>>>> 9e9eb964b10f7fa49342b6eb629fc7a30e47c355
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</node>
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</node>
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@ -0,0 +1,23 @@
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="fcclient_name" value="/dji_mavcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="1"/>
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</node><!-- Launch file for ROSBuzz -->
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<launch>
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<param name="bzzfile_name" value="../ROS_WS/src/ROSBuzz/src/test1.bzz" />
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<param name="rcclient" value="true" />
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<param name="rcservice_name" value="/buzzcmd" />
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<param name="fcclient_name" value="/dji_mavcmd" />
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<param name="in_payload" value="/inMavlink"/>
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<param name="out_payload" value="/outMavlink"/>
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<param name="robot_id" value="1"/>
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</node>
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</launch>
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@ -318,7 +318,7 @@ void buzz_script_step() {
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buzzvm_dump(VM);
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buzzvm_dump(VM);
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}
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}
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/* Print swarm */
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/* Print swarm */
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buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
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//buzzswarm_members_print(stdout, VM->swarmmembers, VM->robot);
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/* Check swarm state */
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/* Check swarm state */
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/* int status = 1;
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/* int status = 1;
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buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
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buzzdict_foreach(VM->swarmmembers, check_swarm_members, &status);
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@ -258,9 +258,9 @@ namespace rosbzz_node{
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bool roscontroller::rc_callback(mavros_msgs::CommandInt::Request &req,
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bool roscontroller::rc_callback(mavros_msgs::CommandInt::Request &req,
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mavros_msgs::CommandInt::Response &res){
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mavros_msgs::CommandInt::Response &res){
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int rc_cmd;
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int rc_cmd;
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if(req.command==oldcmdID)
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/* if(req.command==oldcmdID)
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return true;
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return true;
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else oldcmdID=req.command;
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else oldcmdID=req.command;*/
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switch(req.command){
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switch(req.command){
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case mavros_msgs::CommandCode::NAV_TAKEOFF:
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case mavros_msgs::CommandCode::NAV_TAKEOFF:
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ROS_INFO("RC_call: TAKE OFF!!!!");
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ROS_INFO("RC_call: TAKE OFF!!!!");
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@ -0,0 +1,170 @@
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!20
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'init
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'i
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'a
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'val
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'oldcmd
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'step
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'neighbors
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'listen
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'cmd
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'print
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'Got (
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',
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') from robot #
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'uav_takeoff
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'uav_land
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'flight
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'rc_cmd
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'broadcast
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'reset
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'destroy
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pushs 0
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pushcn @__label_1
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gstore
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pushs 5
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pushcn @__label_2
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gstore
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pushs 18
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pushcn @__label_14
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gstore
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pushs 19
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pushcn @__label_15
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gstore
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nop
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@__label_0
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@__exitpoint
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done
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@__label_1
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pushs 1 |3,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |3,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gstore |3,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 2 |4,2,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |4,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gstore |4,5,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 3 |5,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |5,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gstore |5,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 4 |6,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |6,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gstore |6,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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ret0 |7,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_2
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pushs 6 |12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |12,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 7 |12,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |12,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 8 |12,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushl @__label_3 |13,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 2 |21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |21,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 15 |23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |23,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 16 |23,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |23,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 4 |23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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neq |23,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jumpz @__label_8 |23,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 9 |24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |24,6,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 15 |24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |24,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 16 |24,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |24,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 1 |24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |24,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 15 |25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |25,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 16 |25,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |25,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 22 |25,19,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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eq |25,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jumpz @__label_10 |25,23,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 13 |26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |26,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |26,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 6 |27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |27,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 17 |27,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |27,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 8 |27,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 22 |27,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 2 |27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |27,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jump @__label_11 |28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_10 |28,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 15 |28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |28,17,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 16 |28,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |28,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 21 |28,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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eq |28,28,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jumpz @__label_12 |28,30,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 14 |29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |29,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |29,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 6 |30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |30,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 17 |30,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |30,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 8 |30,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 21 |30,29,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 2 |30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |30,32,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_12 |32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_11 |32,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 4 |32,7,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 15 |32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |32,14,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 16 |32,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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tget |32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gstore |32,21,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_8 |35,0,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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ret0 |35,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_3
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pushs 9 |14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |14,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 10 |14,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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lload 1 |14,24,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 11 |14,26,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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lload 2 |14,36,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 12 |14,38,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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lload 3 |14,59,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 6 |14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |14,60,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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lload 2 |15,9,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 22 |15,11,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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eq |15,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jumpz @__label_4 |15,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 13 |16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |16,13,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |16,15,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jump @__label_5 |17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_4 |17,8,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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lload 2 |17,16,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 21 |17,18,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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eq |17,20,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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jumpz @__label_6 |17,22,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushs 14 |18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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gload |18,10,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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pushi 0 |18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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callc |18,12,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_6 |20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_5 |20,3,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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ret0 |20,4,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_14
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ret0 |39,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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@__label_15
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ret0 |43,1,/home/ubuntu/ROS_WS/src/ROSBuzz/src/test1.bzz
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Binary file not shown.
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@ -3,34 +3,33 @@ function init() {
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i = 0
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i = 0
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a = 0
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a = 0
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val = 0
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val = 0
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oldcmd = 0
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}
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}
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||||||
# Executed at each time step.
|
# Executed at each time step.
|
||||||
function step() {
|
function step() {
|
||||||
|
|
||||||
if (i == 0) {
|
neighbors.listen("cmd",
|
||||||
neighbors.listen("Take",
|
|
||||||
function(vid, value, rid) {
|
function(vid, value, rid) {
|
||||||
print("Got (", vid, ",", value, ") from robot #", rid)
|
print("Got (", vid, ",", value, ") from robot #", rid)
|
||||||
}
|
if(value==22) {
|
||||||
)
|
|
||||||
neighbors.listen("key",
|
|
||||||
function(vid, value, rid) {
|
|
||||||
print("Got (", vid, ",", value, ") from robot #", rid)
|
|
||||||
val = value
|
|
||||||
}
|
|
||||||
)
|
|
||||||
print(val)
|
|
||||||
if ((val==23) and (a == 0)) {
|
|
||||||
uav_takeoff()
|
uav_takeoff()
|
||||||
a=1
|
} else if(value==21) {
|
||||||
|
uav_land()
|
||||||
}
|
}
|
||||||
if (a == 10) uav_land()
|
|
||||||
if (a != 0) a = a+1
|
|
||||||
}
|
}
|
||||||
else{
|
)
|
||||||
neighbors.broadcast("key", 23)
|
|
||||||
neighbors.broadcast("Take", "no")
|
if(flight.rc_cmd!=oldcmd) {
|
||||||
|
print(flight.rc_cmd)
|
||||||
|
if(flight.rc_cmd==22) {
|
||||||
|
uav_takeoff()
|
||||||
|
neighbors.broadcast("cmd", 22)
|
||||||
|
} else if(flight.rc_cmd==21) {
|
||||||
|
uav_land()
|
||||||
|
neighbors.broadcast("cmd", 21)
|
||||||
|
}
|
||||||
|
oldcmd=flight.rc_cmd
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
Loading…
Reference in New Issue