merge from sitl
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commit
d669295741
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@ -10,7 +10,7 @@ include "taskallocate/graphs/shapes_Y.bzz"
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ROBOT_RADIUS = 50
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ROBOT_RADIUS = 50
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ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
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ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
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ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
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ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
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ROOT_ID = 5
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ROOT_ID = 2
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#
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#
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# Global variables
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# Global variables
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@ -11,7 +11,7 @@ include "timesync.bzz"
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AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
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AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
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#AUTO_LAUNCH_STATE = "CUSFUN"
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#AUTO_LAUNCH_STATE = "CUSFUN"
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#Lowest robot id in the network
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#Lowest robot id in the network
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LOWEST_ROBOT_ID = 1
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LOWEST_ROBOT_ID = 0
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TARGET = 9.0
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TARGET = 9.0
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EPSILON = 30.0
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EPSILON = 30.0
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@ -7,11 +7,13 @@
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<arg name="xbee_plugged" default="true"/>
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<arg name="xbee_plugged" default="true"/>
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<arg name="script" default="testalone"/>
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<arg name="script" default="testalone"/>
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<arg name="launch_config" default="topics"/>
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<arg name="launch_config" default="topics"/>
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<arg name="debug" default="false" />
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
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<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
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<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
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<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
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<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
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<param name="rcclient" value="true" />
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<param name="rcclient" value="true" />
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<param name="debug" value="$(arg debug)" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="in_payload" value="inMavlink"/>
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<param name="in_payload" value="inMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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@ -7,11 +7,13 @@
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<arg name="xbee_plugged" default="true"/>
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<arg name="xbee_plugged" default="true"/>
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<arg name="script" default="testalone"/>
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<arg name="script" default="testalone"/>
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<arg name="launch_config" default="topics"/>
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<arg name="launch_config" default="topics"/>
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<arg name="debug" default="true" />
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
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<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
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<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
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<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
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<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
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<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
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<param name="rcclient" value="true" />
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<param name="rcclient" value="true" />
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<param name="debug" value="$(arg debug)" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="rcservice_name" value="buzzcmd" />
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<param name="in_payload" value="inMavlink"/>
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<param name="in_payload" value="inMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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<param name="out_payload" value="outMavlink"/>
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