initial commit

.github/workflows/ros_package_build.yml

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+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ master ]
+
+  pull_request:
+    branches: [ master ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}

.gitignore

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+
+# ignore temp files
+*~
+
+# ignore vim temp files
+*.swp
+*.swo
+*.swn
+
+# Runtime-python
+*.pyc

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.1.2)
+project(mrs_uav_autostart)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+set(CATKIN_DEPENDENCIES
+  cmake_modules
+  roscpp
+  rospy
+  std_srvs
+  mrs_msgs
+  mrs_lib
+  nodelet
+  std_msgs
+  topic_tools
+  )
+
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
+  )
+
+set(LIBRARIES
+  MrsAutomaticStart
+  )
+
+catkin_package(
+  LIBRARIES ${LIBRARIES}
+  CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
+  )
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  )
+
+add_library(MrsAutomaticStart
+  src/automatic_start.cpp
+  )
+
+add_dependencies(MrsAutomaticStart
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+  )
+
+target_link_libraries(MrsAutomaticStart
+  ${catkin_LIBRARIES}
+  )
+
+## --------------------------------------------------------------
+## |                           Install                          |
+## --------------------------------------------------------------
+
+install(TARGETS ${LIBRARIES}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+install(TARGETS ${EXECUTABLES}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+install(DIRECTORY launch config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(DIRECTORY scripts/
+  USE_SOURCE_PERMISSIONS
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+install(DIRECTORY scripts
+  USE_SOURCE_PERMISSIONS
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
+install(FILES plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )

config/automatic_start.yaml

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+safety_timeout: 5.0 # [s]
+
+main_timer_rate: 30 # [Hz]
+
+# how many times it will try to call the start/stop services if the call fails
+call_n_attempts: 10
+
+handle_takeoff: true
+handle_landing: false
+action_duration: 12.0 # [min]
+land_mode: "eland" # {land_home, land, eland}
+pre_takeoff_sleep: 0 # [s]
+
+topic_check:
+
+  enabled: true
+  timeout: 5.0 # [s], a window for the last accepted message
+
+  # if "/" is provided at the beginning of topic_name, the topic name is considered as written,
+  # if there is no "/" at the beginning, UAV_NAME is automatically added in from of the topic name (/uav1/topic_name)
+  topics: [
+    "estimation_manager/uav_state",
+    "control_manager/diagnostics",
+  ]

launch/automatic_start.launch

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+<launch>
+
+  <!-- args corresponding to environment variables -->
+  <arg name="UAV_NAME" default="$(optenv UAV_NAME)" />
+  <arg name="RUN_TYPE" default="$(optenv RUN_TYPE)" />
+
+  <arg name="custom_config" default="" />
+
+  <arg if="$(eval arg('RUN_TYPE') == 'simulation')" name="simulation" default="true" />
+  <arg if="$(eval arg('RUN_TYPE') == 'realworld')" name="simulation" default="false" />
+
+    <!-- other args -->
+  <arg name="standalone" default="true" />
+
+  <arg     if="$(arg standalone)" name="nodelet" value="standalone" />
+  <arg unless="$(arg standalone)" name="nodelet" value="load" />
+  <arg     if="$(arg standalone)" name="nodelet_manager" value="" />
+  <arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg UAV_NAME)_vision_nodelet_manager" />
+
+  <group ns="$(arg UAV_NAME)">
+
+    <node name="automatic_start" pkg="nodelet" type="nodelet" args="$(arg nodelet) mrs_uav_autostart/AutomaticStart $(arg nodelet_manager)" output="screen">
+
+      <rosparam file="$(find mrs_uav_autostart)/config/automatic_start.yaml" />
+
+        <!-- Load a user param file -->
+      <rosparam if="$(eval not arg('custom_config') == '')" file="$(arg custom_config)" />
+
+      <param name="uav_name" value="$(arg UAV_NAME)" />
+      <param name="simulation" value="$(arg simulation)" />
+
+        <!-- Subscribers -->
+      <remap from="~hw_api_status_in" to="hw_api/status" />
+      <remap from="~control_manager_diagnostics_in" to="control_manager/diagnostics" />
+      <remap from="~uav_manager_diagnostics_in" to="uav_manager/diagnostics" />
+      <remap from="~gazebo_spawner_diagnostics_in" to="/mrs_drone_spawner/diagnostics" />
+
+        <!-- Publishers -->
+      <remap from="~can_takeoff_out" to="~can_takeoff" />
+
+        <!-- services -->
+      <remap from="~takeoff_out" to="uav_manager/takeoff" />
+      <remap from="~land_home_out" to="uav_manager/land_home" />
+      <remap from="~land_out" to="uav_manager/land" />
+      <remap from="~eland_out" to="control_manager/eland" />
+      <remap from="~toggle_control_output_out" to="control_manager/toggle_output" />
+      <remap from="~arm_out" to="hw_api/arming" />
+      <remap from="~validate_reference_out" to="control_manager/validate_reference_2d" />
+
+      <remap from="~start_out" to="~start" />
+      <remap from="~stop_out" to="~stop" />
+
+    </node>
+
+  </group>
+
+</launch>

package.xml

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+<?xml version="1.0"?>
+<package format="2">
+
+  <name>mrs_uav_autostart</name>
+  <version>1.0.4</version>
+  <description>The mrs_uav_autostart package</description>
+
+  <author email="[email protected]">Tomas Baca</author>
+  <maintainer email="[email protected]">Tomas Baca</maintainer>
+
+  <license>BSD 3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>cmake_modules</depend>
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>std_srvs</depend>
+  <depend>mrs_msgs</depend>
+  <depend>mrs_lib</depend>
+  <depend>nodelet</depend>
+  <depend>std_msgs</depend>
+  <depend>topic_tools</depend>
+
+  <export>
+    <nodelet plugin="${prefix}/plugins.xml" />
+  </export>
+
+</package>

plugins.xml

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+<library path="lib/libMrsAutomaticStart">
+  <class name="mrs_uav_autostart/AutomaticStart" type="mrs_uav_autostart::automatic_start::AutomaticStart" base_class_type="nodelet::Nodelet">
+    <description>AutomaticStart nodelet</description>
+  </class>
+</library>