90 lines
3.4 KiB
Bash
90 lines
3.4 KiB
Bash
#! /bin/bash
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function takeoff {
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rosservice call /buzzcmd 0 22 0 0 0 0 0 0 0 0
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}
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function land {
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rosservice call /buzzcmd 0 21 0 0 0 0 0 0 0 0
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}
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function arm {
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rosservice call /buzzcmd 0 400 0 1 0 0 0 0 0 0
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}
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function disarm {
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rosservice call /buzzcmd 0 400 0 0 0 0 0 0 0 0
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}
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function timesync {
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rosservice call /buzzcmd 0 777 0 0 0 0 0 0 0 0
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}
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function testWP {
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rosservice call /buzzcmd 0 16 0 0 0 0 0 45.45782 -- -73.63608 10
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}
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function record {
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rosbag record $1/flight_status $1/global_position $1/users_pos $1/local_position $1/neighbours_pos /power_status /guidance/obstacle_distance /guidance/front/depth/image_rect/compressedDepth /guidance/right/depth/image_rect/compressedDepth /guidance/front/depth/points /guidance/right/depth/points /guidance/front/right/image_rect/compressed /guidance/front/left/image_rect/compressed /guidance/right/right/image_rect/compressed /guidance/right/left/image_rect/compressed /guidance/front/left/camera_info /guidance/front/right/camera_info /guidance/right/right/camera_info /guidance/right/left/camera_info
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}
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function clean {
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sudo rm /var/log/upstart/robot*
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sudo rm /var/log/upstart/dji*
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sudo rm /var/log/upstart/x3s*
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}
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function startrobot {
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sudo service dji start
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}
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function stoprobot {
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sudo service dji stop
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}
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function updaterobot {
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rosrun robot_upstart uninstall dji
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if [ "$1" = 0 ] && [ "$2" = "X" ]
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then
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echo "Installing launch file for TX-ubuntu16 with usb2serial"
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echo "With xbeemav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16US.launch
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elif [ "$1" = 1 ] && [ "$2" = "X" ]
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then
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echo "Installing launch file for TX-ubuntu16"
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echo "With xbeemav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16.launch
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elif [ "$1" = 2 ] && [ "$2" = "X" ]
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then
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echo "Installing launch file for TK-ubuntu14"
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echo "With xbeemav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TKAll.launch
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elif [ "$1" = 3 ] && [ "$2" = "X" ]
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then
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echo "Installing launch file for Solo"
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echo "With xbeemav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/solo.launch
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elif [ "$1" = 4 ] && [ "$2" = "X" ]
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then
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echo "Installing launch file for Spiris"
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echo "With xbeemav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/spiri.launch
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elif [ "$1" = 0 ] && [ "$2" = "H" ]
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then
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echo "Installing launch file for TX-ubuntu16 with usb2serial"
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echo "With heavenmav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16USHeaven.launch
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elif [ "$1" = 1 ] && [ "$2" = "H" ]
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then
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echo "Installing launch file for TX-ubuntu16"
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echo "With heavenmav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TX16Heaven.launch
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elif [ "$1" = 2 ] && [ "$2" = "H" ]
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then
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echo "Installing launch file for TK-ubuntu14"
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echo "With heavenmav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/m100TKAllHeaven.launch
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elif [ "$1" = 3 ] && [ "$2" = "H" ]
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then
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echo "Installing launch file for Solo"
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echo "With heavenmav"
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rosrun robot_upstart install --logdir /media/key/ROS_WS/log/ dji_sdk_mistlab/launch_robot/soloHeaven.launch
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else
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echo "Wrong arguments!"
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fi
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}
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function uavstate {
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let "a = $1 + 900"
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rosservice call robot0/buzzcmd 0 $a 0 0 0 0 0 0 0 0
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}
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