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ROSBuzz_MISTLab
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This commit is contained in:
isvogor 2017-02-22 08:13:23 -05:00
parent 23532118c4
commit 76027ffc09
2 changed files with 43 additions and 11 deletions
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34
launch/rosbuzz-testing.launch
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@ -1,13 +1,26 @@
<launch> <launch>
<arg name="path_save" default="/home/pi/bags"/> <!-- RUN mavros -->
<arg name="file_name" default="test.bag"/> <arg name="fcu_url" default="/dev/ttyAMA0:115200" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<group ns="record"> <include file="$(find mavros)/launch/node.launch">
<param name="path_save" type="str" value="$(arg path_save)" /> <arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<param name="file_name" type="str" value="$(arg file_name)" /> <arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
<node name="record_ros" pkg="record_ros" type="record_ros" output="screen" respawn="true"/>
</group>
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
</include>
<!-- set streaming rate -->
<node pkg="rosservice" type="rosservice" name="freq" args="call /mavros/set_stream_rate 0 10 1" output="screen" />
<!-- run xbee -->
<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 swarm" output="screen" />
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" /> <param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" /> <param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
@ -15,18 +28,17 @@
<param name="No_of_dev" type="int" value="3" /> <param name="No_of_dev" type="int" value="3" />
<param name="Xbee_Out_To_Controller" type="str" value="mav_dji_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" > <node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/> <rosparam file="/home/pi/ros_catkin_ws/src/ROSBuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testalone.bzz" /> <param name="bzzfile_name" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/testalone.bzz" />
<param name="rcclient" value="true" /> <param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" /> <param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/> <param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/> <param name="out_payload" value="/outMavlink"/>
<param name="robot_id" value="3"/> <param name="robot_id" value="3"/>
<param name="No_of_Robots" value="3"/> <param name="No_of_Robots" value="3"/>
<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/> <param name="stand_by" value="/home/pi/ros_catkin_ws/src/ROSBuzz/src/stand_by.bo"/>
</node> </node>
</launch> </launch>

20
misc/cmdlinectr.sh Normal file
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@ -0,0 +1,20 @@
#! /bin/bash
function takeoff {
rosservice call /buzzcmd 0 22 0 0 0 0 0 0 0 0
}
function land {
rosservice call /buzzcmd 0 21 0 0 0 0 0 0 0 0
}
function record {
rosbag record /flight_status /global_position /dji_sdk/local_position /neighbours_pos /power_status /guidance/obstacle_distance /guidance/front_depth_image/compressedDepth /guidance/right_depth_image/compressedDepth /guidance/left_depth_image/compressedDepth /guidance/bottom_depth_image/compressedDepth /guidance/back_depth_image/compressedDepth
}
function clean {
sudo rm /var/log/upstart/robot*
sudo rm /var/log/upstart/x3s*
}
function startrobot {
sudo service robot start
}
function stoprobot {
sudo service robot stop
}