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Merge pull request #2869 from kuri-kustar/master 

- changes to allow for multi-uav support
This commit is contained in:
Lorenz Meier 2015-09-16 15:31:12 +02:00
parent 612e3b49ef 24feea6346
commit 9d230dba0e
8 changed files with 74 additions and 5 deletions
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2
launch/ardrone.launch
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@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_x.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">

2
launch/iris.launch
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@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url" default="udp://localhost:14565@localhost:14560"/>
<include file="$(find px4)/launch/multicopter_w.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">

55
launch/multi_uav.launch Normal file
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@ -0,0 +1,55 @@
<?xml version="1.0"?>
<launch>
<arg name="headless" default="false"/>
<arg name="gui" default="true"/>
<arg name="enable_logging" default="false"/>
<arg name="enable_ground_truth" default="true"/>
<arg name="debug" default="false"/>
<arg name="ns" default="iris"/>
<arg name="log_file" default="$(arg ns)"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rotors_gazebo)/worlds/basic.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="headless" value="$(arg headless)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<group ns="iris">
<include file="$(find rotors_gazebo)/launch/spawn_iris.launch">
<arg name="model" value="$(find rotors_description)/urdf/iris_gesture_sensors.gazebo" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14560@localhost:14565" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/iris.launch">
<arg name="ns" value="iris"/>
</include>
<group ns="ardrone">
<include file="$(find rotors_gazebo)/launch/spawn_ardrone.launch">
<arg name="model" value="$(find rotors_description)/urdf/ardrone_base.xacro" />
<arg name="enable_logging" value="$(arg enable_logging)" />
<arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
<arg name="log_file" value="$(arg log_file)"/>
<arg name="x" value="-1"/>
<arg name="y" value="0"/>
</include>
<arg name="fcu_url" default="udp://localhost:14570@localhost:14575" />
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)" />
</include>
</group>
<include file="$(find px4)/launch/ardrone.launch">
<arg name="ns" value="ardrone"/>
<arg name="mavlink_fcu_url" value="udp://localhost:14575@localhost:14570"/>
</include>
</launch>

5
launch/multicopter.launch
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@ -1,5 +1,6 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<group ns="$(arg ns)">
<node pkg="joy" name="joy_node" type="joy_node"/>
@ -10,7 +11,9 @@
<node pkg="px4" name="position_estimator" type="position_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
<node pkg="px4" name="mavlink" type="mavlink"/>
<node pkg="px4" name="mavlink" type="mavlink">
<param name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" type="str"/>
</node>
<!-- <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O px4_multicopter"/> -->
</group>

2
launch/multicopter_w.launch
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@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">

2
launch/multicopter_x.launch
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@ -1,8 +1,10 @@
<launch>
<arg name="ns"/>
<arg name="mavlink_fcu_url"/>
<include file="$(find px4)/launch/multicopter.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="mavlink_fcu_url" value="$(arg mavlink_fcu_url)" />
</include>
<group ns="$(arg ns)">

9
src/platforms/ros/nodes/mavlink/mavlink.cpp
View File

@ -46,7 +46,7 @@
using namespace px4;
Mavlink::Mavlink() :
Mavlink::Mavlink(std::string mavlink_fcu_url) :
_n(),
_v_att_sub(_n.subscribe("vehicle_attitude", 1, &Mavlink::VehicleAttitudeCallback, this)),
_v_local_pos_sub(_n.subscribe("vehicle_local_position", 1, &Mavlink::VehicleLocalPositionCallback, this)),
@ -55,7 +55,7 @@ Mavlink::Mavlink() :
_offboard_control_mode_pub(_n.advertise<offboard_control_mode>("offboard_control_mode", 1)),
_force_sp_pub(_n.advertise<vehicle_force_setpoint>("vehicle_force_setpoint", 1))
{
_link = mavconn::MAVConnInterface::open_url("udp://localhost:14565@localhost:14560");
_link = mavconn::MAVConnInterface::open_url(mavlink_fcu_url);
_link->message_received.connect(boost::bind(&Mavlink::handle_msg, this, _1, _2, _3));
_att_sp = {};
_offboard_control_mode = {};
@ -64,7 +64,10 @@ Mavlink::Mavlink() :
int main(int argc, char **argv)
{
ros::init(argc, argv, "mavlink");
Mavlink m;
ros::NodeHandle privateNh("~");
std::string mavlink_fcu_url;
privateNh.param<std::string>("mavlink_fcu_url", mavlink_fcu_url, std::string("udp://localhost:14565@localhost:14560"));
Mavlink m(mavlink_fcu_url);
ros::spin();
return 0;
}

2
src/platforms/ros/nodes/mavlink/mavlink.h
View File

@ -55,7 +55,7 @@ namespace px4
class Mavlink
{
public:
Mavlink();
Mavlink(std::string mavlink_fcu_url);
~Mavlink() {}