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ROSBuzz_MISTLab
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merge from sitl

This commit is contained in:
dave 2018-09-07 00:58:58 -04:00
parent 8580f8f306 5fc3276ac2
commit d669295741
4 changed files with 6 additions and 2 deletions
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2
buzz_scripts/include/taskallocate/graphformGPS.bzz
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@ -10,7 +10,7 @@ include "taskallocate/graphs/shapes_Y.bzz"
ROBOT_RADIUS = 50
ROBOT_DIAMETER = 2.0*ROBOT_RADIUS
ROBOT_SAFETYDIST = 2.0*ROBOT_DIAMETER
ROOT_ID = 5
ROOT_ID = 2
#
# Global variables

2
buzz_scripts/main.bzz
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@ -11,7 +11,7 @@ include "timesync.bzz"
AUTO_LAUNCH_STATE = "TASK_ALLOCATE"
#AUTO_LAUNCH_STATE = "CUSFUN"
#Lowest robot id in the network
LOWEST_ROBOT_ID = 1
LOWEST_ROBOT_ID = 0
TARGET = 9.0
EPSILON = 30.0

2
launch/rosbuzz.launch
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@ -7,11 +7,13 @@
<arg name="xbee_plugged" default="true"/>
<arg name="script" default="testalone"/>
<arg name="launch_config" default="topics"/>
<arg name="debug" default="false" />
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
<param name="rcclient" value="true" />
<param name="debug" value="$(arg debug)" />
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>

2
launch/rosbuzzd.launch
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@ -7,11 +7,13 @@
<arg name="xbee_plugged" default="true"/>
<arg name="script" default="testalone"/>
<arg name="launch_config" default="topics"/>
<arg name="debug" default="true" />
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" launch-prefix="gdb -ex run --args">
<rosparam file="$(find rosbuzz)/launch/launch_config/$(arg launch_config).yaml"/>
<param name="bzzfile_name" value="$(find rosbuzz)/buzz_scripts/$(arg script).bzz" />
<param name="rcclient" value="true" />
<param name="debug" value="$(arg debug)" />
<param name="rcservice_name" value="buzzcmd" />
<param name="in_payload" value="inMavlink"/>
<param name="out_payload" value="outMavlink"/>