updated configs

ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/f330.yaml

@@ -51,17 +51,13 @@ mrs_uav_managers:
 
   constraint_manager:
 
-    constraint_management:
-
-      # those gains will be used automatically when a localization mode switches
-      # and the current gains are not in the allowed list (next paragraphs)
-      fallback_constraints:
-        gps_garmin: "fast"
-        gps_baro: "fast"
-        rtk: "fast"
-        aloam: "slow"
-        hector_garmin: "slow"
-        vio: "slow"
-        optflow: "slow"
-        other: "slow"
-        ground_truth: "fast"
+    default_constraints:
+      gps_garmin: "fast"
+      gps_baro: "fast"
+      rtk: "fast"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "fast"

ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/f450.yaml

@@ -51,17 +51,14 @@ mrs_uav_managers:
 
   constraint_manager:
 
-    constraint_management:
+    default_constraints:
+      gps_garmin: "fast"
+      gps_baro: "fast"
+      rtk: "fast"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "fast"
 
-      # those gains will be used automatically when a localization mode switches
-      # and the current gains are not in the allowed list (next paragraphs)
-      fallback_constraints:
-        gps_garmin: "fast"
-        gps_baro: "fast"
-        rtk: "fast"
-        aloam: "slow"
-        hector_garmin: "slow"
-        vio: "slow"
-        optflow: "slow"
-        other: "slow"
-        ground_truth: "fast"

ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/f550.yaml

@@ -51,17 +51,14 @@ mrs_uav_managers:
 
   constraint_manager:
 
-    constraint_management:
+    default_constraints:
+      gps_garmin: "fast"
+      gps_baro: "fast"
+      rtk: "fast"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "fast"
 
-      # those gains will be used automatically when a localization mode switches
-      # and the current gains are not in the allowed list (next paragraphs)
-      fallback_constraints:
-        gps_garmin: "fast"
-        gps_baro: "fast"
-        rtk: "fast"
-        aloam: "slow"
-        hector_garmin: "slow"
-        vio: "slow"
-        optflow: "slow"
-        other: "slow"
-        ground_truth: "fast"

ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/t650.yaml

@@ -51,18 +51,14 @@ mrs_uav_managers:
 
   constraint_manager:
 
-    constraint_management:
-
-      # those gains will be used automatically when a localization mode switches
-      # and the current gains are not in the allowed list (next paragraphs)
-      fallback_constraints:
-        gps_garmin: "fast"
-        gps_baro: "fast"
-        rtk: "fast"
-        aloam: "slow"
-        hector_garmin: "slow"
-        vio: "slow"
-        optflow: "slow"
-        other: "slow"
-        ground_truth: "fast"
+    default_constraints:
+      gps_garmin: "fast"
+      gps_baro: "fast"
+      rtk: "fast"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "fast"
 

ros_packages/mrs_uav_gazebo_simulation/config/mrs_uav_system/x500.yaml

@@ -51,17 +51,14 @@ mrs_uav_managers:
 
   constraint_manager:
 
-    constraint_management:
+    default_constraints:
+      gps_garmin: "fast"
+      gps_baro: "fast"
+      rtk: "fast"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "fast"
 
-      # those gains will be used automatically when a localization mode switches
-      # and the current gains are not in the allowed list (next paragraphs)
-      fallback_constraints:
-        gps_garmin: "fast"
-        gps_baro: "fast"
-        rtk: "fast"
-        aloam: "slow"
-        hector_garmin: "slow"
-        vio: "slow"
-        optflow: "slow"
-        other: "slow"
-        ground_truth: "fast"

ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/config/network_config.yaml

@@ -0,0 +1,14 @@
+# 1. This list is used by NimbroNetwork for mutual communication of the UAVs
+#    The names of the robots have to match hostnames described in /etc/hosts.
+#
+# 2. This list is used by MpcTracker for mutual collision avoidance of the UAVs.
+#    The names should match the true "UAV_NAMES" (the topic prefixes).
+#
+#     network_config:=~/config/network_config.yaml
+#
+#    to the core.launch and nimbro.launch.
+
+network:
+
+  robot_names: [
+  ]

ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/config/world_config.yaml

@@ -0,0 +1,46 @@
+#
+## DEFINITION OF THE ARENA
+#
+
+world_origin_units: "LATLON" # {"UTM, "LATLON"}
+
+world_origin_x: 47.397743
+world_origin_y: 8.545594
+
+safety_area:
+
+  use_safety_area: true
+
+  frame_name: "world_origin"
+
+  # convex polygon CCW
+  safety_area: [
+    -50, -50,
+    50,  -50,
+    50,  50,
+    -50, 50
+  ]
+
+  max_z: 15.0
+  min_z: 0.5
+
+  polygon_obstacles:
+    # loaded as a vector of matrices
+    # each matrix has polygon vertices in columns
+    # [[M1], [M2]]
+    enabled: false
+    data: [8.6, 18.61, 20.35, 6.82, -3.14, 10.7,
+           -22.5, -22.71, 1.02, 17.68, 11.1, -4.1]
+    rows: 2 # each matrix has two rows
+    cols: [6] # nums of cols of each matrix
+
+  point_obstacles:
+    # loaded as a vector of matrices
+    # x, y, radius
+    enabled: false
+    # [x1, y1, radisu1, height1,
+    #  x2, y2, radius2, height2]
+    data: [-5.0, -5.0, 2, 2,
+           -10.0, -10.0, 4, 2]
+    rows: 1 # each matrix has a single row
+    cols: [4, 4] # nums of cols of each matrix

ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/session.yml

@@ -32,7 +32,11 @@ windows:
   - control:
       layout: tiled
       panes:
-        - waitForHw; roslaunch mrs_uav_core platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml core.launch custom_config:=./custom_configs/custom_config.yaml
+        - waitForHw; roslaunch mrs_uav_core core.launch
+          platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml
+          custom_config:=./config/custom_config.yaml
+          world_config:=./config/world_config.yaml
+          network_config:=./config/network_config.yaml
   - takeoff:
       layout: tiled
       panes: