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ROSBuzz_MISTLab
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topic change for buzz objects

This commit is contained in:
vivek-shankar 2016-12-23 14:21:52 -05:00
parent eaf3cf4f33
commit 60aa13a4ad
3 changed files with 101 additions and 20 deletions
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25
launch/rosbuzz_2_parallel.launch
View File

@ -2,22 +2,23 @@
<launch>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="rc_cmd" />
<param name="fcclient_name" value="/djicmd" />
<param name="in_payload" value="/rosbuzz_node1/outMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="robot_id" value="1"/>
</node>
<node name="rosbuzz_node1" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="rc_cmd" />
<param name="fcclient_name" value="/djicmd" />
<param name="in_payload" value="/rosbuzz_node/outMavlink"/>
<param name="out_payload" value="outMavlink"/>
<param name="robot_id" value="2"/>
<param name="in_payload" value="/inMavlink"/>
<!-- param name="in_payload" value="/rosbuzz_node1/outMavlink"-->
<param name="out_payload" value="/outMavlink"/>
<param name="robot_id" value="1"/>
</node>
<!-- node name="rosbuzz_node1" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" -->
<!-- param name="bzzfile_name" value="/home/vivek/catkin_ws/src/rosbuzz/src/test1.bzz" -->
<!-- param name="rcclient" value="true" -->
<!-- param name="rcservice_name" value="rc_cmd" -->
<!-- param name="fcclient_name" value="/djicmd" -->
<!-- param name="in_payload" value="/rosbuzz_node/outMavlink"-->
<!-- param name="out_payload" value="outMavlink"-->
<!-- param name="robot_id" value="2"-->
<!-- node-->
</launch>

6
src/roscontroller.cpp
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@ -86,10 +86,10 @@ namespace rosbzz_node{
void roscontroller::Initialize_pub_sub(ros::NodeHandle n_c){
/*subscribers*/
current_position_sub = n_c.subscribe("/mav/global_position", 1000, &roscontroller::current_pos,this);
battery_sub = n_c.subscribe("/mav/power_status", 1000, &roscontroller::battery,this);
current_position_sub = n_c.subscribe("/global_position", 1000, &roscontroller::current_pos,this);
battery_sub = n_c.subscribe("/power_status", 1000, &roscontroller::battery,this);
payload_sub = n_c.subscribe(in_payload, 1000, &roscontroller::payload_obt,this);
flight_status_sub =n_c.subscribe("/mav/flight_status",100, &roscontroller::flight_status_update,this);
flight_status_sub =n_c.subscribe("/flight_status",100, &roscontroller::flight_status_update,this);
/*publishers*/
payload_pub = n_c.advertise<mavros_msgs::Mavlink>(out_payload, 1000);
cout<<out_payload<<endl;

90
src/test1.bzz
View File

@ -1,9 +1,86 @@
########################################
#
# BARRIER-RELATED FUNCTIONS
#
########################################
#
# Constants
#
BARRIER_VSTIG = 1
ROBOTS = 2 # number of robots in the swarm
#
# Sets a barrier
#
function barrier_set(threshold, transf) {
statef = function() {
barrier_wait(threshold, transf);
}
barrier = stigmergy.create(BARRIER_VSTIG)
statestr = "barrier"
}
#
# Make yourself ready
#
function barrier_ready() {
barrier.put(id, 1)
}
#
# Executes the barrier
#
function barrier_wait(threshold, transf) {
barrier.get(id)
extradbg = barrier.size()
if(barrier.size() >= threshold) {
barrier = nil
transf()
}
}
# flight status
function idle() {
}
function takeoff() {
if( flight.status == 2) {
barrier_set(ROBOTS,transition_to_land)
barrier_ready()
}
else
uav_takeoff()
}
function land() {
if( flight.status == 1) {
barrier_set(ROBOTS,idle)
barrier_ready()
}
else
uav_land()
}
function transition_to_land() {
if(tim>=100){
statef=land
tim=0
}else{
tim=tim+1
}
}
# Executed once at init time.
function init() {
i = 0
a = 0
val = 0
oldcmd = 0
tim=0
statef=idle
}
# Executed at each time step.
@ -13,25 +90,28 @@ neighbors.listen("cmd",
function(vid, value, rid) {
print("Got (", vid, ",", value, ") from robot #", rid)
if(value==22) {
uav_takeoff()
statef=takeoff
} else if(value==21) {
uav_land()
statef=land
}
}
)
print("Flight status: ",flight.status)
if(flight.rc_cmd!=oldcmd) {
print(flight.rc_cmd)
if(flight.rc_cmd==22) {
uav_takeoff()
statef=takeoff
neighbors.broadcast("cmd", 22)
} else if(flight.rc_cmd==21) {
uav_land()
statef=land
neighbors.broadcast("cmd", 21)
}
oldcmd=flight.rc_cmd
}
statef()
}
# Executed once when the robot (or the simulator) is reset.