launch file commit
This commit is contained in:
Vivek Shankar Varadharajan
parent
d664adc06b
commit
a128625619
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@ -37,4 +37,5 @@ install(TARGETS rosbuzz_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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find_package(catkin REQUIRED COMPONENTS roslaunch)
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roslaunch_add_file_check(launch)
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@ -0,0 +1,11 @@
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<!-- 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="../catkin_ws/src/rosbuzz/src/test.bzz" />
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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="fcclient_name" value="fc_cmd" />
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</node>
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<param name="robot_id" value="1"/>
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</launch>
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@ -40,8 +40,8 @@
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>message_generation</build_depend>
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<run_depend>message_runtime</run_depend>
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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@ -199,13 +199,13 @@ static int buzz_register_hooks() {
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/****************************************/
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int buzz_script_set(const char* bo_filename,
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const char* bdbg_filename) {
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const char* bdbg_filename, int robot_id) {
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/* Get hostname */
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char hstnm[30];
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gethostname(hstnm, 30);
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/* Make numeric id from hostname */
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/* NOTE: here we assume that the hostname is in the format Knn */
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int id = strtol(hstnm + 1, NULL, 10);
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int id = robot_id; //strtol(hstnm + 1, NULL, 10);
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cout << " Robot ID" << id<< endl;
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/* Reset the Buzz VM */
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if(VM) buzzvm_destroy(&VM);
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@ -22,7 +22,7 @@ void in_msg_process(uint64_t* payload);
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uint64_t* out_msg_process();
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int buzz_script_set(const char* bo_filename,
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const char* bdbg_filename);
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const char* bdbg_filename, int robot_id);
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void buzz_script_step();
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void buzz_script_destroy();
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150
src/out.basm
150
src/out.basm
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@ -1,150 +0,0 @@
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!24
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'init
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'i
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's
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'swarm
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'create
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'join
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'step
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'neighbors
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'foreach
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'print
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'robot
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':
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'distance =
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'distance
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',
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'azimuth =
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'azimuth
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'elevation =
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'elevation
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'exec
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'uav_takeoff
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'uav_goto
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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 6
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pushcn @__label_2
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gstore
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pushs 22
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pushcn @__label_8
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gstore
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pushs 23
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pushcn @__label_9
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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 |3,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 0 |3,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gstore |3,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 2 |4,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 3 |4,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |4,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 4 |4,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |4,16,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 10 |4,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gstore |4,20,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 2 |5,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |5,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 5 |5,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |5,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 0 |5,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |5,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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ret0 |7,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_2
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pushs 7 |12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |12,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 8 |12,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |12,17,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushl @__label_3 |13,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |17,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |17,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 1 |18,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |18,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |18,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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eq |18,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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jumpz @__label_4 |18,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 2 |19,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |19,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 19 |19,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |19,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushl @__label_6 |19,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |19,34,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |19,34,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 1 |20,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 0 |20,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gstore |20,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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jump @__label_5 |22,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_4 |22,4,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 2 |23,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |23,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 19 |23,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |23,6,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushl @__label_7 |23,7,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |23,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |23,51,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 1 |24,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 1 |24,2,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gstore |24,3,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_5 |25,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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ret0 |35,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_3
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pushs 9 |14,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |14,9,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 10 |14,10,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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lload 1 |14,23,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 11 |14,25,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 12 |15,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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lload 2 |15,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 13 |15,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |15,37,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 14 |15,39,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 15 |16,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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lload 2 |16,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 16 |16,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |16,36,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 14 |16,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 17 |17,8,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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lload 2 |17,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushs 18 |17,29,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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tget |17,38,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 11 |17,40,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |17,40,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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ret0 |17,41,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_6
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pushs 20 |19,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |19,30,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 0 |19,32,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |19,32,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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ret0 |19,33,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_7
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pushs 21 |23,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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gload |23,27,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushf 1.1234 |23,28,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushf 2.2345 |23,35,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushf 3.3456 |23,42,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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pushi 3 |23,49,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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callc |23,49,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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ret0 |23,50,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_8
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ret0 |39,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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@__label_9
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ret0 |43,1,/home/vivek/catkin_ws/src/rosbuzz/src/test.bzz
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BIN
src/out.bdbg
BIN
src/out.bdbg
Binary file not shown.
BIN
src/out.bo
BIN
src/out.bo
Binary file not shown.
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@ -30,16 +30,15 @@ using namespace std;
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/**
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* This program implements Buzz node in ros using mavros_msgs, Developed for Dji M100.
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* This program implements Buzz node in ros using mavros_msgs.
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*/
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static int done = 0;
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static double cur_pos[3];
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static uint64_t payload;
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static std::map< int, Pos_struct> neighbours_pos_map;
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static int timer_step=0;
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static int robot_id=0;
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/*Refresh neighbours Position for every ten step*/
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void maintain_pos(int tim_step){
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@ -188,19 +187,38 @@ static void ctrlc_handler(int sig) {
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int main(int argc, char **argv)
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{
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/*Compile the buzz code .bzz to .bo*/
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system("rm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
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system("bzzparse ../catkin_ws/src/rosbuzz/src/test.bzz ../catkin_ws/src/rosbuzz/src/out.basm");
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system("bzzasm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
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ros::ServiceServer service;
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/*initiate rosBuzz*/
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ros::init(argc, argv, "rosBuzz");
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ROS_INFO("Buzz_node");
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/*Create node Handler*/
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ros::NodeHandle n_c;
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std::string bzzfile_name, fcclient_name, rcservice_name; //, rcclient;
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bool rcclient;
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/*Obtain .bzz file name from parameter server*/
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if(ros::param::get("/rosbuzz_node/bzzfile_name", bzzfile_name));
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else {ROS_ERROR("Provide a .bzz file to run in Launch file"); system("rosnode kill rosbuzz_node");}
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/*Obtain rc service option from parameter server*/
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if(ros::param::get("/rosbuzz_node/rcclient", rcclient)){
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if(rcclient==true){
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/*Service*/
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if(ros::param::get("/rosbuzz_node/rcservice_name", rcservice_name)){
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service = n_c.advertiseService(rcservice_name, rc_callback);
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ROS_INFO("Ready to receive Mav Commands from RC client");
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}
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else{ROS_ERROR("Provide a name topic name for rc service in Launch file"); system("rosnode kill rosbuzz_node");}
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}
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else if(rcclient==false){ROS_INFO("RC service is disabled");}
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}
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else{ROS_ERROR("Provide a rc client option: yes or no in Launch file"); system("rosnode kill rosbuzz_node");}
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/*Obtain fc client name from parameter server*/
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if(ros::param::get("/rosbuzz_node/fcclient_name", fcclient_name));
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else {ROS_ERROR("Provide a fc client name in Launch file"); system("rosnode kill rosbuzz_node");}
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/*Obtain robot_id from parameter server*/
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ros::param::get("/rosbuzz_node/robot_id", robot_id);
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/*subscribers*/
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ros::Subscriber current_position_sub = n_c.subscribe("current_pos", 1000, current_pos);
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@ -213,16 +231,20 @@ int main(int argc, char **argv)
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ros::Publisher payload_pub = n_c.advertise<mavros_msgs::Mavlink>("outMavlink", 1000);
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/* Clients*/
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ros::ServiceClient mav_client = n_c.serviceClient<mavros_msgs::CommandInt>("djicmd");
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ros::ServiceClient mav_client = n_c.serviceClient<mavros_msgs::CommandInt>(fcclient_name);
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cout<< " rc client name"<<rcservice_name;
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/*Services*/
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ros::ServiceServer service = n_c.advertiseService("djicmd_rc", rc_callback);
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ROS_INFO("Ready to receive Mav Commands from dji RC client");
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/*loop rate of ros*/
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ros::Rate loop_rate(1);
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/*Compile the buzz code .bzz to .bo*/
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stringstream bzzfile_in_compile;
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bzzfile_in_compile << "bzzparse "<<bzzfile_name<<" ../catkin_ws/src/rosbuzz/src/out.basm";
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//system("rm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
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system(bzzfile_in_compile.str().c_str());
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system("bzzasm ../catkin_ws/src/rosbuzz/src/out.basm ../catkin_ws/src/rosbuzz/src/out.bo ../catkin_ws/src/rosbuzz/src/out.bdbg");
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/* The bytecode filename */
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char* bcfname = (char*)"../catkin_ws/src/rosbuzz/src/out.bo"; //argv[1];
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/* The debugging information file name */
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@ -233,12 +255,12 @@ int main(int argc, char **argv)
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/* Set the Buzz bytecode */
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if(buzz_script_set(bcfname, dbgfname)) {
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if(buzz_script_set(bcfname, dbgfname,robot_id)) {
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fprintf(stdout, "Bytecode file found and set\n");
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/*Commands for dji flight controller*/
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mavros_msgs::CommandInt cmd_srv;
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int count = 0;
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while (ros::ok() && !done && !buzz_script_done())
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{
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@ -255,7 +277,6 @@ int main(int argc, char **argv)
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cmd_srv.request.param1 = goto_pos[0];
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cmd_srv.request.param2 = goto_pos[1];
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cmd_srv.request.param3 = goto_pos[2];
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cmd_srv.request.command = getcmd();
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/* diji client call*/
|
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if (mav_client.call(cmd_srv)){ ROS_INFO("Reply: %ld", (long int)cmd_srv.response.success); }
|
||||
|
|
|
|||
13
src/test.bzz
13
src/test.bzz
|
|
@ -1,6 +1,6 @@
|
|||
# Executed once at init time.
|
||||
function init() {
|
||||
i=0
|
||||
i=1
|
||||
s = swarm.create(10)
|
||||
s.join()
|
||||
|
||||
|
|
@ -8,6 +8,7 @@ s.join()
|
|||
|
||||
# Executed at each time step.
|
||||
function step() {
|
||||
|
||||
# print all the neighbours position
|
||||
neighbors.foreach(
|
||||
function(rid, data) {
|
||||
|
|
@ -17,20 +18,10 @@ neighbors.foreach(
|
|||
"elevation = ", data.elevation) })
|
||||
if(i==1){
|
||||
s.exec(function() {uav_takeoff()})
|
||||
i=0
|
||||
}
|
||||
else{
|
||||
s.exec(function() {uav_goto(1.1234,2.2345,3.3456)})
|
||||
i=1
|
||||
}
|
||||
#if(i==5){
|
||||
#s.leave()
|
||||
#i=0
|
||||
#}
|
||||
#else{
|
||||
#i=1
|
||||
#}
|
||||
#i = i + 1
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue