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Merge branch 'master' of https://github.com/MISTLab/ROSBuzz

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Vivek Shankar Varadharajan 2016-10-10 20:24:43 -04:00
parent 9b25ad53bd 938234292f
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readme.md
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@ -18,6 +18,22 @@ The language can be extended to add new primitives (thus supporting heterogeneou
More information is available at http://the.swarming.buzz/wiki/doku.php?id=start.
Description:
============
Rosbuzz package is the ROS version of Buzz. The package contains a node called “rosbuzz_node”, which implements buzz as a node in ROS. The rosbuzz_node requires certain parameters to run. These parameters are supplied to the node from the ros parameter server. The package also contains a launch file called “rosbuzz.launch”, which initializes the required parameters. The required parameters are the .bzz file location, presence of Remote Controller client, Remote Controller service name, Flight Controller client name and Robot ID.
* The .bzz file location parameter is a string with name “bzzfile_name”, the node compiles and parses the specified .bzz file into .basm, .bo and .bdbg files. The node runs the parsed .bo byte file.
* The presence of remote controller client is a bool parameter with name “rcclient”, this specifies whether there is a remote controller present to issue bypassing commands like takeoff, land, goto location and go home. If there is no remote controller present then this parameter could be set to “false”. If a remote controller exists, this parameter could be set “True” and the service topic offered by the remote controller should be specified to the parameter named “rcservice_name”.
* The flight controller client present in the node is used to send commands to the flight controller. The commands that could be sent are takeoff, land, goto location and go home. The topic name used to communicate with the flight controller should be set to the parameter named “fcclient_name”.
* The last parameter that the rosbuzz_node depends on is the robot ID of type “int”, this parameter could be set to the parameter named “robot_id”. This parameter is by default set to ‘0’, if not specified.
An example template of parameter setting could be found in the launch file “launch/rosbuzz.launch”.
Downloading ROS Package
=======================
@ -54,8 +70,9 @@ To compile the ros package, execute the following:
Run
===
To run the ROSBuzz package using the launch file, execute the following:
$ rosrun rosbuzz rosbuzz_node
$ roslaunch rosbuzz rosbuzz.launch
Publisher
=========
@ -79,11 +96,11 @@ Service
-------
* Remote Controller command:
The package offers service using mavros_msgs/CommandInt service with name "djicmd_rc".
The package offers service using mavros_msgs/CommandInt service with name "rc_cmd".
Client
------
* Flight controller client:
This package is a client of mavros_msgs/CommandInt service with name "djicmd".
This package is a client of mavros_msgs/CommandInt service with name "fc_cmd".