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ROSBuzz_MISTLab
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merge changes from field

This commit is contained in:
dave 2018-11-21 08:19:38 +01:00
parent ae41ee5eab 26b249625d
commit 50c995c3e3
8 changed files with 12 additions and 69 deletions
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2
buzz_scripts/include/act/barrier.bzz
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@ -7,7 +7,7 @@
#
# Constants
#
BARRIER_TIMEOUT = 200 # in steps
BARRIER_TIMEOUT = 600 # in steps
BARRIER_VSTIG = 80
timeW = 1
barrier = nil

57
buzz_scripts/include/act/states.bzz
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@ -319,62 +319,5 @@ function voronoicentroid_done() {
# Custom state function for the developer to play with
function cusfun(){
BVMSTATE="CUSFUN"
#log("cusfun: yay!!!")
#LOCAL_TARGET = math.vec2.new(5 ,0 )
#local_set_point = math.vec2.new(LOCAL_TARGET.x - pose.position.x ,LOCAL_TARGET.y - pose.position.y ) # has to move 5 meters in x from the home location
#if(math.vec2.length(local_set_point) > GOTODIST_TOL){
# local_set_point = LimitSpeed(local_set_point, 1.0)
# goto_abs(local_set_point.x, local_set_point.y, 0.0, 0.0)
#}
#else{
# log("TARGET REACHED")
#}
initialPoint = 0
# Get waypoint list
if (id == 1) {
waypoints = {
.0 = math.vec2.new(-5.0, -5.0),
.1 = math.vec2.new(5.0, 5.0)
}
} else if (id == 2 ) {
waypoints = {
.0 = math.vec2.new(5.0, 5.0),
.1 = math.vec2.new(-5.0, -5.0)
}
}
# Current waypoint
target_point = waypoints[point]
# Get drone position and transform to global frame - depends on lauch file
offset_x = 0.0
offset_y = 0.0
if (id == 1) {
offset_x = 5.0
offset_y = 5.0
} else if (id == 2 ) {
offset_x = -5.0
offset_y = -5.0
}
pos_x = pose.position.x + offset_x;
pos_y = pose.position.y + offset_y;
# Get a vector pointing to target and target distance
vector_to_target = math.vec2.sub(target_point, math.vec2.new(pos_x, pos_y))
distance_to_target = math.vec2.length(vector_to_target)
# Run LCA and increment waypoint
if(distance_to_target > 0.2){
vector_to_target = LCA(vector_to_target)
vector_to_target = LimitSpeed(vector_to_target, 0.5)
goto_abs(vector_to_target.x, vector_to_target.y, 0.0, 0.0)
} else {
if(point < size(waypoints) - 1){
point = point + 1
} else {
point = 0
}
}
}

4
buzz_scripts/include/taskallocate/bidding.bzz
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@ -6,8 +6,8 @@
#
########################################
CSV_FILENAME_AND_PATH = "/home/amber/ROS_WS/src/rosbuzz/buzz_scripts/include/taskallocate/waypoints_12.csv"
OUTPUT_FILENAME_AND_PATH = "/home/amber/bidding_output/output-" # automatically completed with 'ID.csv'
CSV_FILENAME_AND_PATH = "/home/ubuntu/ROS_DRONES_WS2/src/rosbuzz/buzz_scripts/include/taskallocate/waypoints_12.csv"
OUTPUT_FILENAME_AND_PATH = "/home/ubuntu/bidding_output/output-" # automatically completed with 'ID.csv'
BID_WAIT = 40
PICTURE_WAIT = 40
BASE_ALTITUDE = 5.0

2
buzz_scripts/include/utils/takeoff_heights.bzz
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@ -8,7 +8,7 @@ takeoff_heights ={
.6 = 12.0,
.9 = 8.0,
.11 = 6.0,
.14 = 18.0,
.14 = 9.0,
.16 = 9.0,
.17 = 3.0,
.18 = 6.0,

2
include/roscontroller.h
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@ -11,7 +11,7 @@
#include "mavros_msgs/ExtendedState.h"
#include "mavros_msgs/SetMode.h"
#include "mavros_msgs/State.h"
#include "mavros_msgs/BatteryStatus.h"
//#include "mavros_msgs/BatteryStatus.h"
#include "sensor_msgs/BatteryState.h"
#include "mavros_msgs/Mavlink.h"
#include "mavros_msgs/PositionTarget.h"

2
src/buzz_utility.cpp
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@ -17,7 +17,7 @@ static buzzvm_t VM = 0;
static char* BO_FNAME = 0;
static uint8_t* BO_BUF = 0;
static buzzdebug_t DBG_INFO = 0;
static uint32_t MAX_MSG_SIZE = 210;//250; // Maximum Msg size for sending update packets
static uint32_t MAX_MSG_SIZE = 190;//250; // Maximum Msg size for sending update packets
static uint8_t Robot_id = 0;
static std::vector<uint8_t*> IN_MSG;
std::map<int, Pos_struct> users_map;

4
src/roscontroller.cpp
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@ -839,7 +839,7 @@ script
BClpose = true;
}
if (current_mode != "GUIDED" && setmode)
SetMode("GUIDED", 2000); // added for compatibility with 3DR Solo
SetMode("GUIDED", 3000); // added for compatibility with 3DR Solo
if(setmode)
{
if (mav_client.call(cmd_srv))
@ -1040,7 +1040,7 @@ void roscontroller::battery(const sensor_msgs::BatteryState::ConstPtr& msg)
/ Update battery status into BVM from subscriber
/------------------------------------------------------*/
{
buzzuav_closures::set_battery(msg->voltage, msg->current, msg->percentage);
buzzuav_closures::set_battery(msg->voltage, msg->current, msg->percentage * 100.0);
// DEBUG
// ROS_INFO("voltage : %d current : %d remaining : %d",msg->voltage,
// msg->current, msg ->remaining);