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ROSBuzz_MISTLab
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added solo specifics

This commit is contained in:
isvogor 2017-03-01 15:48:16 -05:00
parent decbf170c1
commit 8be25947d9
4 changed files with 80 additions and 106 deletions
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4
include/roscontroller.h
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@ -86,6 +86,8 @@ private:
ros::ServiceClient mission_client; ros::ServiceClient mission_client;
std::string current_mode; // SOLO SPECIFIC: just so you don't call the switch to same mode
void Initialize_pub_sub(ros::NodeHandle n_c); void Initialize_pub_sub(ros::NodeHandle n_c);
/*Obtain data from ros parameter server*/ /*Obtain data from ros parameter server*/
@ -141,8 +143,6 @@ private:
void Arm(); void Arm();
void SetMode();
void SetMode(std::string mode, int delay_miliseconds); void SetMode(std::string mode, int delay_miliseconds);
void Subscribe(ros::NodeHandle n_c); void Subscribe(ros::NodeHandle n_c);

16
launch/rosbuzz-testing-sitl.launch
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@ -1,5 +1,5 @@
<launch> <launch>
<!-- RUN mavros --> <!-- RUN mavros
<arg name="fcu_url" default="tcp://127.0.0.1:5760" /> <arg name="fcu_url" default="tcp://127.0.0.1:5760" />
<arg name="gcs_url" default="" /> <arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" /> <arg name="tgt_system" default="1" />
@ -15,18 +15,18 @@
<arg name="tgt_component" value="$(arg tgt_component)" /> <arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" /> <arg name="log_output" value="$(arg log_output)" />
</include> </include>
-->
<!-- run xbee --> <!-- 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" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" /> <param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="No_of_dev" type="int" value="3" /> <param name="No_of_dev" type="int" value="3" />
-->
<!-- run rosbuzz --> <!-- 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/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/> <rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" /> <param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testflockfev.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"/>
@ -35,9 +35,11 @@
<param name="No_of_Robots" value="3"/> <param name="No_of_Robots" value="3"/>
<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/> <param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
</node> </node>
<!--
<node pkg="rosloader" type="rosloader" name="rosloader" output="screen"/> <node pkg="rosloader" type="rosloader" name="rosloader" output="screen"/>
-->
<!-- set streaming rate <!-- set streaming rate
/mavros/cmd/arming /mavros/cmd/arming
<node pkg="rosservice" type="rosservice" name="stream_rate" args="call /mavros/set_stream_rate 0 10 1" /> <node pkg="rosservice" type="rosservice" name="stream_rate" args="call /mavros/set_stream_rate 0 10 1" />

163
src/roscontroller.cpp
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@ -1,7 +1,5 @@
#include "roscontroller.h" #include "roscontroller.h"
#include <thread> #include <thread>
namespace rosbzz_node{ namespace rosbzz_node{
/***Constructor***/ /***Constructor***/
@ -16,6 +14,8 @@ namespace rosbzz_node{
Compile_bzz(); Compile_bzz();
set_bzz_file(bzzfile_name.c_str()); set_bzz_file(bzzfile_name.c_str());
/*Initialize variables*/ /*Initialize variables*/
//
SetMode("LOITER", 0);
armstate = 0; armstate = 0;
multi_msg = true; multi_msg = true;
} }
@ -80,6 +80,7 @@ namespace rosbzz_node{
/*sleep for the mentioned loop rate*/ /*sleep for the mentioned loop rate*/
timer_step+=1; timer_step+=1;
maintain_pos(timer_step); maintain_pos(timer_step);
} }
/* Destroy updater and Cleanup */ /* Destroy updater and Cleanup */
//update_routine(bcfname.c_str(), dbgfname.c_str(),1); //update_routine(bcfname.c_str(), dbgfname.c_str(),1);
@ -173,11 +174,8 @@ namespace rosbzz_node{
arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient); arm_client = n_c.serviceClient<mavros_msgs::CommandBool>(armclient);
mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient); mode_client = n_c.serviceClient<mavros_msgs::SetMode>(modeclient);
mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name); mav_client = n_c.serviceClient<mavros_msgs::CommandLong>(fcclient_name);
mission_client = n_c.serviceClient<mavros_msgs::WaypointPush>("/mavros/mission/push");
multi_msg=true; multi_msg=true;
armstate = 0;
} }
void roscontroller::Subscribe(ros::NodeHandle n_c){ void roscontroller::Subscribe(ros::NodeHandle n_c){
@ -243,18 +241,6 @@ namespace rosbzz_node{
} }
} }
void roscontroller::SetMode(){
mavros_msgs::SetMode set_mode_message;
set_mode_message.request.base_mode = 0;
set_mode_message.request.custom_mode = "GUIDED"; // shit!
if(mode_client.call(set_mode_message)) {
ROS_INFO("Set Mode Service call successful!");
} else {
ROS_INFO("Set Mode Service call failed!");
}
}
/*----------------------------------------------------------------- /*-----------------------------------------------------------------
/Prepare Buzz messages payload for each step and publish /Prepare Buzz messages payload for each step and publish
/ /
@ -272,91 +258,62 @@ namespace rosbzz_node{
/* TODO: this should go in a separate function and be called by the main Buzz step */ /* TODO: this should go in a separate function and be called by the main Buzz step */
int tmp = buzzuav_closures::bzz_cmd(); int tmp = buzzuav_closures::bzz_cmd();
std::cout<< "Going: " << tmp << std::endl;
double* goto_pos = buzzuav_closures::getgoto(); double* goto_pos = buzzuav_closures::getgoto();
// TODO: Make sure that land and takeoff use the right statuses in bzz
if (tmp == 1){ if (tmp == 1){
cmd_srv.request.param7 = goto_pos[2]; cmd_srv.request.param7 = goto_pos[2];
//cmd_srv.request.z = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd(); cmd_srv.request.command = buzzuav_closures::getcmd();
std::cout << " CMD: " << buzzuav_closures::getcmd() << std::endl;
// SOLO SPECIFIC: SITL DOES NOT USE 21 TO LAND -- workaround: set to LAND mode
switch(buzzuav_closures::getcmd()){
case mavros_msgs::CommandCode::NAV_LAND:
if(current_mode != "LAND")
SetMode("LAND", 0);
break;
case mavros_msgs::CommandCode::NAV_TAKEOFF:
if(current_mode != "GUIDED")
SetMode("GUIDED", 0); // for real solo, just add 2000ms delay (it should always be in loiter after arm/disarm)
break;
}
if (mav_client.call(cmd_srv))
{ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else
ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 2) { /*FC call for goto*/
/*prepare the goto publish message */
cmd_srv.request.param5 = goto_pos[0];
cmd_srv.request.param6 = goto_pos[1];
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)) {
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
}
else
ROS_ERROR("Failed to call service from flight controller");
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
if (mav_client.call(cmd_srv)){ if (mav_client.call(cmd_srv)){
ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success);
} }
else else
ROS_ERROR("Failed to call service from flight controller"); ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 2) { /*FC call for goto*/
/*prepare the goto publish message */
cmd_srv.request.param5 = goto_pos[0];
cmd_srv.request.param6 = goto_pos[1];
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
cmd_srv.request.command = mavros_msgs::CommandCode::CMD_MISSION_START;
if (mav_client.call(cmd_srv)){ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
else ROS_ERROR("Failed to call service from flight controller");
} else if (tmp == 3) { /*FC call for arm*/ } else if (tmp == 3) { /*FC call for arm*/
// SOLO SPECIFIC: when you land, mode is LANDED, which is not armable, therefore change it to LOITER
SetMode("LOITER", 0);
armstate=1; armstate=1;
Arm(); Arm();
} else if (tmp == 4){ } else if (tmp == 4){
SetMode("LOITER", 0);
armstate=0; armstate=0;
Arm(); Arm();
} }
}
// TODO: split this
/*Prepare messages for each step and publish*/
/*******************************************************************************************************/
/* Message format of payload (Each slot is uint64_t) */
/* _________________________________________________________________________________________________ */
/*| | | | | | */
/*|Pos x|Pos y|Pos z|Size in Uint64_t|robot_id|Buzz_msg_size|Buzz_msg|Buzz_msgs with size......... | */
/*|_____|_____|_____|________________________________________________|______________________________| */
/*******************************************************************************************************/
void roscontroller::prepare_msg_and_publish(){
if(fcclient_name == "/mavros/cmd/command"){
int tmp = buzzuav_closures::bzz_cmd();
double* goto_pos = buzzuav_closures::getgoto();
cout << "Flying Solo today? " << endl;
switch(tmp){
// TAKEOFF -- LAND
case 1:
if(!armstate){
SetMode("LOITER", 0);
Arm();
armstate = 1;
SetMode("GUIDED", 2000);
}
cmd_srv.request.param7 = goto_pos[2];
cmd_srv.request.command = buzzuav_closures::getcmd();
// just to be safe -- while landing!
if(buzzuav_closures::getcmd() == 21){
SetMode("LAND", 0);
}
if (mav_client.call(cmd_srv)){
ROS_INFO("Reply: %ld", (long int) cmd_srv.response.success);
}
else
ROS_ERROR("Failed to call service from flight controller");
break;
// GOTO
case 2:
WaypointMissionSetup(goto_pos[0], goto_pos[1], goto_pos[2]);
break;
// ARM
case 3:
Arm();
break;
}
} else {
fc_command_setup();
}
/*obtain Pay load to be sent*/ /*obtain Pay load to be sent*/
//fprintf(stdout, "before getting msg from utility\n"); //fprintf(stdout, "before getting msg from utility\n");
uint64_t* payload_out_ptr= buzz_utility::out_msg_process(); uint64_t* payload_out_ptr= buzz_utility::out_msg_process();
@ -517,10 +474,7 @@ namespace rosbzz_node{
else if (msg->mode == "LAND") else if (msg->mode == "LAND")
buzzuav_closures::flight_status_update(4); buzzuav_closures::flight_status_update(4);
else // ground standby = LOITER? else // ground standby = LOITER?
{
cout << "Warning -- something else, going to GUIDED!" << endl;
buzzuav_closures::flight_status_update(1);//? buzzuav_closures::flight_status_update(1);//?
}
} }
/*flight extended status update*/ /*flight extended status update*/
@ -624,15 +578,13 @@ namespace rosbzz_node{
switch(req.command){ switch(req.command){
case mavros_msgs::CommandCode::NAV_TAKEOFF: case mavros_msgs::CommandCode::NAV_TAKEOFF:
ROS_INFO("RC_call: TAKE OFF!!!!"); ROS_INFO("RC_call: TAKE OFF!!!!");
rc_cmd=mavros_msgs::CommandCode::NAV_TAKEOFF;
buzzuav_closures::rc_call(rc_cmd); buzzuav_closures::rc_call(rc_cmd);
res.success = true; res.success = true;
break; break;
case mavros_msgs::CommandCode::NAV_LAND: case mavros_msgs::CommandCode::NAV_LAND:
ROS_INFO("RC_Call: LAND!!!!"); ROS_INFO("RC_Call: LAND!!!!");
rc_cmd=mavros_msgs::CommandCode::NAV_LAND; rc_cmd=mavros_msgs::CommandCode::NAV_LAND;
// again -- to be safe:
SetMode("LAND", 0);
buzzuav_closures::rc_call(rc_cmd); buzzuav_closures::rc_call(rc_cmd);
res.success = true; res.success = true;
break; break;
@ -663,10 +615,8 @@ namespace rosbzz_node{
rc_goto[1] = req.param6; rc_goto[1] = req.param6;
rc_goto[2] = req.param7; rc_goto[2] = req.param7;
WaypointMissionSetup(req.param5, req.param6, req.param7);
buzzuav_closures::rc_set_goto(rc_goto); buzzuav_closures::rc_set_goto(rc_goto);
rc_cmd=mavros_msgs::CommandCode::NAV_WAYPOINT; rc_cmd= mavros_msgs::CommandCode::NAV_WAYPOINT;
buzzuav_closures::rc_call(rc_cmd); buzzuav_closures::rc_call(rc_cmd);
res.success = true; res.success = true;
break; break;
@ -681,5 +631,26 @@ namespace rosbzz_node{
} }
} /*
* SOLO SPECIFIC FUNCTIONS
*/
void roscontroller::SetMode(std::string mode, int delay_miliseconds){
// wait if necessary
if (delay_miliseconds > 0){
std::this_thread::sleep_for( std::chrono::milliseconds ( delay_miliseconds ) );
}
// set mode
mavros_msgs::SetMode set_mode_message;
set_mode_message.request.base_mode = 0;
set_mode_message.request.custom_mode = mode;
current_mode = mode;
if(mode_client.call(set_mode_message)) {
ROS_INFO("Set Mode Service call successful!");
} else {
ROS_INFO("Set Mode Service call failed!");
}
}
}

3
src/testflockfev.bzz
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@ -125,7 +125,8 @@ function takeoff() {
} }
function land() { function land() {
log("Land: ", flight.status) log("Land: ", flight.status)
if(flight.status == 2 or flight.status == 3){ # SOLO: land = status 4, guided = 1
if(flight.status == 1){
neighbors.broadcast("cmd", 21) neighbors.broadcast("cmd", 21)
uav_land() uav_land()
} }