diff --git a/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch b/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch index 2bace01..d0062cf 100644 --- a/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch +++ b/docker/shared_data/camera_tests/shared_data/apriltag_detector.launch @@ -25,7 +25,7 @@ - + diff --git a/docker/shared_data/gnss/shared_data/custom_config.yaml b/docker/shared_data/gnss/shared_data/custom_config.yaml index 0f52303..b536999 100644 --- a/docker/shared_data/gnss/shared_data/custom_config.yaml +++ b/docker/shared_data/gnss/shared_data/custom_config.yaml @@ -14,8 +14,5 @@ mrs_uav_managers: takeoff: - during_takeoff: - controller: "MpcController" - after_takeoff: - controller: "MpcController" + controller: "Se3Controller" diff --git a/docker/shared_data/vio/shared_data/custom_config.yaml b/docker/shared_data/vio/shared_data/custom_config.yaml index 620de6c..d817626 100644 --- a/docker/shared_data/vio/shared_data/custom_config.yaml +++ b/docker/shared_data/vio/shared_data/custom_config.yaml @@ -6,33 +6,19 @@ mrs_uav_managers: # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, aloam, ground_truth, dummy state_estimators: [ "open_vins", - "vins_kickoff", ] - initial_state_estimator: "vins_kickoff" # will be used as the first state estimator + initial_state_estimator: "open_vins" # will be used as the first state estimator uav_manager: - landing: - - # those two must apply simultaneously - landing_cutoff_mass_factor: 0.75 # how much lighter does the drone appear to be? - landing_cutoff_timeout: 0.5 # [s] how long does the throttle has to be below the mass factor - takeoff: - during_takeoff: - controller: "MpcController" - after_takeoff: - controller: "MpcController" - - control_manager: - - safety: + controller: "Se3Controller" - # emergency landing (still feedback) - eland: + midair_activation: - cutoff_mass_factor: 0.75 # how much lighter does the drone appear to be? - cutoff_timeout: 0.5 # [s] how long does the throttle has to be below the mass factor + after_activation: + controller: "Se3Controller" + tracker: "MpcTracker" diff --git a/docker/uav_sessions/gnss/variables.env b/docker/uav_sessions/gnss/variables.env index 790e969..b215c0c 100644 --- a/docker/uav_sessions/gnss/variables.env +++ b/docker/uav_sessions/gnss/variables.env @@ -2,6 +2,6 @@ RUN_TYPE=realworld UAV_NAME=uav80 UAV_TYPE=robofly ROS_MASTER_URI=http://localhost:11311 -UAV_MASS=0.8 +UAV_MASS=0.7 UAV_ID=c4750f MRS_UAV_SYSTEM_VERSION=1.5.0 diff --git a/docker/uav_sessions/precise_landing/compose.yaml b/docker/uav_sessions/precise_landing/compose.yaml index a56829e..645b8be 100644 --- a/docker/uav_sessions/precise_landing/compose.yaml +++ b/docker/uav_sessions/precise_landing/compose.yaml @@ -1,7 +1,7 @@ volumes: catkin_workspace: - + shared_data: services: diff --git a/docker/uav_sessions/sensor_diagnostics/variables.env b/docker/uav_sessions/sensor_diagnostics/variables.env index 790e969..b215c0c 100644 --- a/docker/uav_sessions/sensor_diagnostics/variables.env +++ b/docker/uav_sessions/sensor_diagnostics/variables.env @@ -2,6 +2,6 @@ RUN_TYPE=realworld UAV_NAME=uav80 UAV_TYPE=robofly ROS_MASTER_URI=http://localhost:11311 -UAV_MASS=0.8 +UAV_MASS=0.7 UAV_ID=c4750f MRS_UAV_SYSTEM_VERSION=1.5.0 diff --git a/docker/uav_sessions/vio/compose.yaml b/docker/uav_sessions/vio/compose.yaml index 3de39c5..09c7d0c 100644 --- a/docker/uav_sessions/vio/compose.yaml +++ b/docker/uav_sessions/vio/compose.yaml @@ -6,8 +6,6 @@ volumes: bag_files: - catkin_workspace: - services: # will copy session-specific data shared between containers from the shared_data container to a shared volume @@ -24,13 +22,6 @@ services: - uav_custom_files:/tmp/docker/uav_custom_files:consistent command: sh -c "rm -rvf /tmp/docker/uav_custom_files/*; mkdir -pv /tmp/docker/uav_custom_files; cp -rv /etc/docker/uav_custom_files/${UAV_TYPE}/${UAV_ID}/* /tmp/docker/uav_custom_files/" - # will copy user's ROS catkin workspace from the 'transfer' alpine image to a shared volume - copy_catkin_workspace: - image: precise_landing:1.0.0 - volumes: - - catkin_workspace:/tmp/docker/catkin_workspace:consistent - command: sh -c "rm -rvf /tmp/docker/catkin_workspace/*; mkdir -pv /tmp/docker/catkin_workspace; cp -rv /etc/docker/catkin_workspace/* /tmp/docker/catkin_workspace/" - # starts roscore # this is the first container in the ROS pipeline roscore: @@ -120,10 +111,9 @@ services: network_mode: host volumes: - shared_data:/etc/docker/shared_data:consistent - - catkin_workspace:/etc/docker/catkin_workspace:consistent env_file: - ./stack.env - command: bash -c "source /etc/docker/catkin_workspace/devel/setup.bash && waitForHw && roslaunch mrs_uav_autostart automatic_start.launch" + command: bash -c "waitForHw && roslaunch mrs_uav_autostart automatic_start.launch" # starts `rosbag record` rosbag: @@ -152,7 +142,6 @@ services: - shared_data:/etc/docker/shared_data:consistent - uav_custom_files:/etc/docker/uav_custom_files:consistent - /dev/:/dev/ - - catkin_workspace:/etc/docker/catkin_workspace:consistent command: - bash --rcfile /opt/ros/noetic/setup.bash privileged: true