added example tmux

ctu-mrs · Aug 8, 2023 · ccbe9a6 · ccbe9a6
1 parent 3991373
commit ccbe9a6
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diff --git a/tmux/one_drone/custom_configs/custom_config.yaml b/tmux/one_drone/custom_configs/custom_config.yaml
@@ -0,0 +1,25 @@
+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    state_estimators: [
+      "gps_garmin",
+      "gps_baro",
+      "ground_truth",
+    ]
+
+    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)
+
+  uav_manager:
+
+    takeoff:
+
+      during_takeoff:
+        controller: "MpcController"
+        tracker: "LandoffTracker"
+
+      after_takeoff:
+        controller: "Se3Controller"
+        tracker: "MpcTracker"
diff --git a/tmux/one_drone/custom_configs/hw_api.yaml b/tmux/one_drone/custom_configs/hw_api.yaml
@@ -0,0 +1,20 @@
+inputs:
+  control_group: false
+  attitude_rate: true
+  attitude:      true
+
+outputs:
+  distance_sensor:      true
+  gnss:                 true
+  rtk:                  true
+  imu:                  true
+  altitude:             true
+  magnetometer_heading: true
+  rc_channels:          true
+  battery_state:        true
+  position:             true
+  orientation:          true
+  velocity:             true
+  angular_velocity:     true
+  odometry:             true
+  ground_truth:         true
diff --git a/tmux/one_drone/layout.json b/tmux/one_drone/layout.json
@@ -0,0 +1,105 @@
+[
+	{
+		"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"
+									}
+								]
+							}
+						]
+					}
+				]
+			}
+		]
+	}
+]