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26 changes: 26 additions & 0 deletions
26
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/config/custom_config.yaml
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| mrs_uav_managers: | ||
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| estimation_manager: | ||
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| # loaded state estimator plugins | ||
| state_estimators: [ | ||
| "gps_garmin", | ||
| "gps_baro", | ||
| "ground_truth", | ||
| ] | ||
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| initial_state_estimator: "gps_baro" # will be used as the first state estimator | ||
| agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback) | ||
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| uav_manager: | ||
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| takeoff: | ||
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| during_takeoff: | ||
| controller: "MpcController" | ||
| tracker: "LandoffTracker" | ||
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| after_takeoff: | ||
| controller: "MpcController" | ||
| # controller: "Se3Controller" | ||
| tracker: "MpcTracker" |
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15
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/config/network_config.yaml
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| # 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. | ||
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| network: | ||
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| robot_names: [ | ||
| uav1, | ||
| ] |
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34
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/config/world_config.yaml
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| world_origin: | ||
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| units: "LATLON" # {"UTM, "LATLON"} | ||
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| origin_x: 47.397743 | ||
| origin_y: 8.545594 | ||
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| safety_area: | ||
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| enabled: true | ||
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| horizontal: | ||
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| # the frame of reference in which the points are expressed | ||
| frame_name: "world_origin" | ||
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| # polygon | ||
| # | ||
| # x, y [m] for any frame_name except latlon_origin | ||
| # x = latitude, y = longitude [deg] for frame_name=="latlon_origin" | ||
| points: [ | ||
| -50, -50, | ||
| 50, -50, | ||
| 50, 50, | ||
| -50, 50, | ||
| ] | ||
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| vertical: | ||
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| # the frame of reference in which the max&min z is expressed | ||
| frame_name: "world_origin" | ||
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| max_z: 15.0 | ||
| min_z: 0.5 |
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14
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/kill.sh
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| #!/bin/bash | ||
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| # Absolute path to this script. /home/user/bin/foo.sh | ||
| SCRIPT=$(readlink -f $0) | ||
| # Absolute path this script is in. /home/user/bin | ||
| SCRIPTPATH=`dirname $SCRIPT` | ||
| cd "$SCRIPTPATH" | ||
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| export TMUX_SESSION_NAME=simulation | ||
| export TMUX_SOCKET_NAME=mrs | ||
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| # just attach to the session | ||
| tmux -L $TMUX_SOCKET_NAME split-window -t $TMUX_SESSION_NAME | ||
| tmux -L $TMUX_SOCKET_NAME send-keys -t $TMUX_SESSION_NAME "sleep 1; tmux list-panes -s -F \"#{pane_pid} #{pane_current_command}\" | grep -v tmux | cut -d\" \" -f1 | while read in; do killp \$in; done; exit" ENTER |
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105
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/layout.json
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| [ | ||
| { | ||
| "border": "normal", | ||
| "floating": "auto_off", | ||
| "fullscreen_mode": 0, | ||
| "layout": "splith", | ||
| "percent": 0.5, | ||
| "type": "con", | ||
| "nodes": [ | ||
| { | ||
| "border": "normal", | ||
| "floating": "auto_off", | ||
| "layout": "splith", | ||
| "percent": 1, | ||
| "type": "con", | ||
| "nodes": [ | ||
| { | ||
| "border": "normal", | ||
| "floating": "auto_off", | ||
| "layout": "splitv", | ||
| "percent": 1, | ||
| "type": "con", | ||
| "nodes": [ | ||
| { | ||
| "border": "normal", | ||
| "floating": "auto_off", | ||
| "layout": "splith", | ||
| "percent": 0.5, | ||
| "type": "con", | ||
| "nodes": [ | ||
| { | ||
| "border": "pixel", | ||
| "current_border_width": 3, | ||
| "floating": "auto_off", | ||
| "geometry": { | ||
| "height": 460, | ||
| "width": 724, | ||
| "x": 0, | ||
| "y": 0 | ||
| }, | ||
| "name": "Gazebo", | ||
| "percent": 0.5, | ||
| "swallows": [ | ||
| { | ||
| "instance": "^gazebo$" | ||
| } | ||
| ], | ||
| "type": "con" | ||
| }, | ||
| { | ||
| "border": "pixel", | ||
| "current_border_width": 3, | ||
| "floating": "auto_off", | ||
| "geometry": { | ||
| "height": 460, | ||
| "width": 724, | ||
| "x": 0, | ||
| "y": 0 | ||
| }, | ||
| "name": "default_simulation.rviz* - RViz", | ||
| "percent": 0.5, | ||
| "swallows": [ | ||
| { | ||
| "instance": "^rviz$" | ||
| } | ||
| ], | ||
| "type": "con" | ||
| } | ||
| ] | ||
| }, | ||
| { | ||
| "border": "normal", | ||
| "floating": "auto_off", | ||
| "layout": "splith", | ||
| "percent": 0.5, | ||
| "type": "con", | ||
| "nodes": [ | ||
| { | ||
| "border": "pixel", | ||
| "current_border_width": 3, | ||
| "floating": "auto_off", | ||
| "geometry": { | ||
| "height": 460, | ||
| "width": 724, | ||
| "x": 0, | ||
| "y": 0 | ||
| }, | ||
| "name": "./start.sh", | ||
| "percent": 1, | ||
| "swallows": [ | ||
| { | ||
| "instance": "^urxvt$" | ||
| } | ||
| ], | ||
| "type": "con" | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } | ||
| ] |
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59
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/session.yml
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| # do not modify these | ||
| root: ./ | ||
| name: simulation | ||
| socket_name: mrs | ||
| attach: false | ||
| tmux_options: -f /etc/ctu-mrs/tmux.conf | ||
| # you can modify these | ||
| pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500 | ||
| startup_window: status | ||
| windows: | ||
| - roscore: | ||
| layout: tiled | ||
| panes: | ||
| - roscore | ||
| - gazebo: | ||
| layout: tiled | ||
| panes: | ||
| - waitForRos; roslaunch mrs_uav_gazebo_simulation simulation.launch world_name:=forest gui:=true | ||
| - waitForControl; gz camera -c gzclient_camera -f $UAV_NAME; history -s gz camera -c gzclient_camera -f $UAV_NAME | ||
| - status: | ||
| layout: tiled | ||
| panes: | ||
| - waitForHw; roslaunch mrs_uav_status status.launch | ||
| - spawn: | ||
| layout: tiled | ||
| panes: | ||
| # the horizontal-samples decreases the base sample rate of 20480 (=2048 points per linescan) to a user-defined value | ||
| - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ground-truth --enable-ouster --ouster-model OS0-128 --use-gpu-ray --horizontal-samples 1280" | ||
| - hw_api: | ||
| layout: tiled | ||
| panes: | ||
| - waitForTime; roslaunch mrs_uav_px4_api api.launch | ||
| - core: | ||
| layout: tiled | ||
| panes: | ||
| - waitForHw; roslaunch mrs_uav_core core.launch | ||
| platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$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: | ||
| - waitForHw; roslaunch mrs_uav_autostart automatic_start.launch | ||
| - 'waitForControl; rosservice call /$UAV_NAME/hw_api/arming 1; sleep 2; rosservice call /$UAV_NAME/hw_api/offboard' | ||
| - goto: | ||
| layout: tiled | ||
| panes: | ||
| - 'history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[0.0, 10.0, 1.5, 0.0\]\"' | ||
| - rviz: | ||
| layout: tiled | ||
| panes: | ||
| - waitForControl; roslaunch mrs_uav_core rviz.launch | ||
| - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch | ||
| - waitForTime; waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch | ||
| - layout: | ||
| layout: tiled | ||
| panes: | ||
| - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json |
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27
ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone_3dlidar/start.sh
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| #!/bin/bash | ||
|
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| # Absolute path to this script. /home/user/bin/foo.sh | ||
| SCRIPT=$(readlink -f $0) | ||
| # Absolute path this script is in. /home/user/bin | ||
| SCRIPTPATH=`dirname $SCRIPT` | ||
| cd "$SCRIPTPATH" | ||
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| export TMUX_SESSION_NAME=simulation | ||
| export TMUX_SOCKET_NAME=mrs | ||
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| # start tmuxinator | ||
| tmuxinator start -p ./session.yml | ||
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| # if we are not in tmux | ||
| if [ -z $TMUX ]; then | ||
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| # just attach to the session | ||
| tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME | ||
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| # if we are in tmux | ||
| else | ||
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| # switch to the newly-started session | ||
| tmux detach-client -E "tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME" | ||
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| fi |