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mascheibermascheiber
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Merge pull request #12 from mascheiber/dev/v1.1
Development Version 1.1 Update
2 parents d1c9cff + 0c9ab80 commit f656d14

35 files changed

+620
-116
lines changed

‎.devcontainer/development/devcontainer.json

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{
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"name": "Development Container",
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"image": "aaucns/flightstack-vscode:dev",
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"runArgs": [
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"--privileged",
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"--network=host",
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"--pid=host"
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],
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"containerEnv": {
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"DISPLAY": "${localEnv:DISPLAY}"
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},
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"workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/${localWorkspaceFolderBasename},type=bind",
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"workspaceFolder": "/home/vscode/${localWorkspaceFolderBasename}",
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"mounts": [
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"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind",
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"source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_aliases,target=/home/vscode/.bash_aliases,type=bind",
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"source=${localEnv:HOME}${localEnv:USERPROFILE}/.ssh,target=/home/vscode/.ssh,type=bind"
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],
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"customizations": {
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"vscode": {
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"extensions": [
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"ms-vscode.cpptools-extension-pack"
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]
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}
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}
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}

‎.gitmodules

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@@ -46,3 +46,6 @@
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[submodule "src/mavlink-gbp-release"]
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path = src/mavlink-gbp-release
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url = https://github.com/aau-cns/mavlink-gbp-release.git
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[submodule "src/mocap_bridge"]
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path = src/mocap_bridge
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url = https://github.com/aau-cns/mocap_bridge.git

‎.vscode/c_cpp_properties.json

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{
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"configurations": [
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{
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"browse": {
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"databaseFilename": "${default}",
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"limitSymbolsToIncludedHeaders": false
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},
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"includePath": [
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"/opt/ros/noetic/include/",
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"/usr/include/",
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"${workspaceFolder}/devel/include",
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"${workspaceFolder}/build/",
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"${workspaceFolder}/src/**/include/"
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],
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"name": "ROS",
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"intelliSenseMode": "gcc-x64",
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"compilerPath": "/usr/bin/gcc",
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"cStandard": "gnu11",
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"cppStandard": "c++17",
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"configurationProvider": "b2.catkin_tools"
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}
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],
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"version": 4
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}

‎.vscode/settings.json

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{
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"files.associations": {
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"cctype": "cpp",
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"cstddef": "cpp",
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"cstdlib": "cpp",
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"cstring": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"array": "cpp",
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"atomic": "cpp",
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"bit": "cpp",
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"*.tcc": "cpp",
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"compare": "cpp",
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"concepts": "cpp",
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"cstdint": "cpp",
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"map": "cpp",
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"set": "cpp",
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"unordered_map": "cpp",
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"unordered_set": "cpp",
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"vector": "cpp",
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"exception": "cpp",
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"algorithm": "cpp",
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"functional": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"random": "cpp",
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"string": "cpp",
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"string_view": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"initializer_list": "cpp",
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"iosfwd": "cpp",
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"iostream": "cpp",
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"istream": "cpp",
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"new": "cpp",
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"ostream": "cpp",
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"sstream": "cpp",
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"stdexcept": "cpp",
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"streambuf": "cpp",
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"typeinfo": "cpp",
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"strstream": "cpp",
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"bitset": "cpp",
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"chrono": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"complex": "cpp",
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"condition_variable": "cpp",
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"cstdarg": "cpp",
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"cstdio": "cpp",
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"ctime": "cpp",
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"deque": "cpp",
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"list": "cpp",
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"fstream": "cpp",
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"iomanip": "cpp",
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"limits": "cpp",
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"mutex": "cpp",
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"optional": "cpp",
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"ratio": "cpp",
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"system_error": "cpp",
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"thread": "cpp",
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"typeindex": "cpp",
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"variant": "cpp"
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},
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"python.autoComplete.extraPaths": [
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"${workspaceFolder}/devel/lib/python3/dist-packages",
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"/opt/ros/noetic/lib/python3/dist-packages"
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],
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"python.analysis.extraPaths": [
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"${workspaceFolder}/devel/lib/python3/dist-packages",
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"/opt/ros/noetic/lib/python3/dist-packages"
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],
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"cmake.configureOnOpen": false
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}

‎scripts/create_bringup.sh

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@@ -98,6 +98,15 @@ WORKSPACE_SRC=${PATH_WS}/${CONFIG_NAME}_cws/src
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PACKAGE_DIR=${PATH_WS}/${CONFIG_NAME}_cws/src/${CONFIG_NAME}
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BRINGUP_DIR=${PATH_WS}/${CONFIG_NAME}_cws/src/${CONFIG_NAME}/${CONFIG_NAME}_bringup
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# check if executed in correct folder
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if [ ! -d 'scripts' ]; then
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echo "${COL_ERR}No 'scripts' folder found, please execute this script in the root directory of the flightstack_cws.${NC}"
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exit 1;
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elif [ ! -f 'scripts/create_bringup.sh' ]
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echo "${COL_ERR}No 'create_bringup' script found within the './scripts' folder, please execute this script in the root directory of the flightstack_cws.${NC}"
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exit 1;
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fi
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# create directory and copy template
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mkdir -p ${PACKAGE_DIR}
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rsync -avPh $(pwd)/src/flightstack/template_config/ ${PACKAGE_DIR}

‎src/autonomy_engine

‎src/data_recorder

‎src/flightstack/flightstack_bringup/configs/global/fs_vars.env

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@@ -1,5 +1,9 @@
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#!/usr/bin/env bash
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# path related variables
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export FS_SCRIPTS_PATH=$(rospack find flightstack_scripts)
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export FS_VARS_FILE=$(rospack find flightstack_bringup)/configs/global/fs_vars.env
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# object tracking related variables
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export FS_OPTITRACK_OBJECT_NAME="cnsuav"
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@@ -14,7 +18,7 @@ export FS_RECORD_ADD_DEV1_SENSOR=()
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export FS_RECORD_ADD_DEV1_CAM=()
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# e.g. these topics require the installation of the matrixvision driver
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# see https://github.com/ethz-asl/matrixvision_camera
17-
# export FS_RECORD_ADD_DEV1_CMAS=(
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# export FS_RECORD_ADD_DEV1_CAM=(
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# "/camera/image_raw"
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# "/camera/camera_info"
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# )

‎src/flightstack/flightstack_bringup/launch/fs_estimation.launch

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@@ -14,6 +14,11 @@ You can contact the authors at <[email protected]>, <christian.brommer@ie
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<launch>
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<arg name="dev_id" default="1" />
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<arg name="ros_ns" default="" />
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<!-- topic prefix for namespace -->
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<arg name="topic_prefix" value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
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<arg name="topic_prefix" value="" unless="$(eval arg('ros_ns') != '')" />
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<arg name="optitrack_object_name" default="$(env FS_OPTITRACK_OBJECT_NAME)" />
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@@ -22,12 +27,12 @@ You can contact the authors at <[email protected]>, <christian.brommer@ie
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<arg name="use_px4_bridge" default="False" />
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<!-- MaRS arguments -->
25-
<arg name="mars_imu_in" default="/mavros/imu/data_raw" />
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<arg name="mars_transform_in" default="/$(arg optitrack_object_name)/vrpn_client/raw_transform" />
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<arg name="mars_pose_out" default="/mavros/vision_pose/pose" />
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<arg name="mars_lite_ext_state_out" default="/mavros/external_state_lite/external_state_estimate_lite" />
29-
<arg name="mars_gps_pos_in" default="/mavros/global_position/raw/fix" />
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<arg name="mars_gps_vel_in" default="/mavros/global_position/raw/gps_vel" />
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<arg name="mars_imu_in" default="$(arg topic_prefix)/mavros/imu/data_raw" />
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<arg name="mars_transform_in" default="$(arg topic_prefix)/$(arg optitrack_object_name)/vrpn_client/raw_transform" />
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<arg name="mars_pose_out" default="$(arg topic_prefix)/mavros/vision_pose/pose" />
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<arg name="mars_lite_ext_state_out" default="$(arg topic_prefix)/mavros/external_state_lite/external_state_estimate_lite" />
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<arg name="mars_gps_pos_in" default="$(arg topic_prefix)/mavros/global_position/raw/fix" />
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<arg name="mars_gps_vel_in" default="$(arg topic_prefix)/mavros/global_position/raw/gps_vel" />
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<arg name="mars_config_in" default="$(find mars_ros)/launch/config/pose_config.yaml" unless="$(arg use_gps)" />

‎src/flightstack/flightstack_bringup/launch/fs_namespace.launch

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<?xml version="1.0" encoding="UTF-8"?>
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<!--
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Copyright (C) 2023 Martin Scheiber,
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Control of Networked Systems Group, University of Klagenfurt, Austria.
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All rights reserved.
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This software is licensed under the terms of the BSD-2-Clause-License with
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no commercial use allowed, the full terms of which are made available
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in the LICENSE file. No license in patents is granted.
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You can contact the author at <[email protected]>
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-->
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<launch>
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<arg name="dev_id" default="1" />
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<arg name="ros_namespace" default="cnsuav" />
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<!-- parameters required for launching with fs_dev scripts -->
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<arg name="dev_type" default="xu4" />
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<arg name="use_gps" default="False" />
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<arg name="rec_script_file" default="$(find flightstack_scripts)/record_scripts/record_full.sh" />
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<arg name="store_script_file" default="$(find flightstack_scripts)/store_scripts/safe_merge_data_single_dev.sh" />
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<arg name="estimator_init_service_name" default="/$(arg ros_namespace)/$(env FS_ESTIMATOR_NODE_NAME)/init_service" />
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<arg name="config_filepath" default="$(find flightstack_bringup)/configs/autonomy/config_dh.yaml" />
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<arg name="launch_file" default="all" />
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<!-- choose between 'all', 'estimation', 'navigation', 'operator', 'recording', 'saftey', and 'sensors'-->
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<group ns="$(arg ros_namespace)">
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<!-- ESTIMATION -->
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<include file="$(find flightstack_bringup)/launch/fs_estimation.launch"
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if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'estimation')">
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<arg name="dev_id" value="$(arg dev_id)" />
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<arg name="ros_ns" value="$(arg ros_namespace)" />
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36+
<arg name="use_gps" value="$(arg use_gps)" />
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</include>
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<!-- NAVIGATION -->
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<include file="$(find flightstack_bringup)/launch/fs_navigation.launch"
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if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'navigation')">
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<arg name="dev_id" value="$(arg dev_id)" />
43+
<arg name="ros_ns" value="$(arg ros_namespace)" />
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<arg name="use_gps" value="$(arg use_gps)" />
46+
</include>
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<!-- OPERATOR -->
49+
<include file="$(find flightstack_bringup)/launch/fs_operator.launch"
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if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'operator')">
51+
<arg name="dev_id" value="$(arg dev_id)" />
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<arg name="ros_ns" value="$(arg ros_namespace)" />
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<arg name="estimator_init_service_name" value="$(arg estimator_init_service_name)" />
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<arg name="config_filepath" value="$(arg config_filepath)" />
56+
</include>
57+
58+
<!-- RECORDING -->
59+
<include file="$(find flightstack_bringup)/launch/fs_recording.launch"
60+
if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'recording')">
61+
<arg name="dev_id" value="$(arg dev_id)" />
62+
<arg name="ros_ns" value="$(arg ros_namespace)" />
63+
</include>
64+
65+
<!-- SAFETY -->
66+
<include file="$(find flightstack_bringup)/launch/fs_safety.launch"
67+
if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'safety')">
68+
<arg name="dev_id" value="$(arg dev_id)" />
69+
<arg name="ros_ns" value="$(arg ros_namespace)" />
70+
71+
<arg name="use_gps" value="$(arg use_gps)" />
72+
</include>
73+
74+
<!-- SENSORS -->
75+
<include file="$(find flightstack_bringup)/launch/fs_sensors.launch"
76+
if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'sensors')">
77+
<arg name="dev_id" value="$(arg dev_id)" />
78+
<arg name="ros_ns" value="$(arg ros_namespace)" />
79+
80+
<arg name="use_gps" value="$(arg use_gps)" />
81+
</include>
82+
</group>
83+
</launch>

‎src/flightstack/flightstack_bringup/launch/fs_navigation.launch

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@@ -14,6 +14,11 @@ You can contact the authors at <[email protected]>, <christian.brommer@ie
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1515
<launch>
1616
<arg name="dev_id" default="1" />
17+
<arg name="ros_ns" default="" />
18+
19+
<!-- topic prefix for namespace -->
20+
<arg name="topic_prefix" value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
21+
<arg name="topic_prefix" value="" unless="$(eval arg('ros_ns') != '')" />
1722

1823
<!-- system args -->
1924
<arg name="use_gps" default="False" /> <!-- INFO(scm): kept for legacy reasons -->
@@ -37,8 +42,21 @@ You can contact the authors at <[email protected]>, <christian.brommer@ie
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3843
<!-- odometry in -->
3944
<arg name="use_odom" default="True" />
40-
<arg name="topic_odom_in" default="/$(env FS_ESTIMATOR_NODE_NAME)/odom_state_out" />
41-
<arg name="topic_pose_in" default="/$(env FS_ESTIMATOR_NODE_NAME)/pose_state_out" />
45+
<arg name="topic_odom_in" default="$(arg topic_prefix)/$(env FS_ESTIMATOR_NODE_NAME)/odom_state_out" />
46+
<arg name="topic_pose_in" default="$(arg topic_prefix)/$(env FS_ESTIMATOR_NODE_NAME)/pose_state_out" />
47+
48+
<!-- mavros topics and services (for NS remapping) - value-based only -->
49+
<arg name="ms_mavros_topic_state_in" value="$(arg topic_prefix)/mavros/state" />
50+
<arg name="ms_mavros_topic_extended_state_in" value="$(arg topic_prefix)/mavros/extended_state" />
51+
<arg name="ms_mavros_topic_local_pose_in" value="$(arg topic_prefix)/mavros/local_position/pose" />
52+
<arg name="ms_autonomy_topic_request_in" value="$(arg topic_prefix)/autonomy/request" />
53+
<arg name="ms_mavros_topic_setpoint_out" value="$(arg topic_prefix)/mavros/setpoint_position/local" />
54+
<arg name="ms_autonomy_topic_response_out" value="$(arg topic_prefix)/autonomy/response" />
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<arg name="ms_mavros_service_arming_out" value="$(arg topic_prefix)/mavros/cmd/arming" />
56+
<arg name="ms_mavros_service_command_out" value="$(arg topic_prefix)/mavros/cmd/command" />
57+
<arg name="ms_mavros_service_land_out" value="$(arg topic_prefix)/mavros/cmd/land" />
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<arg name="ms_mavros_service_set_mode_out" value="$(arg topic_prefix)/mavros/set_mode" />
59+
<!-- TODO(scm): might not be required as PHN/NH difference already sets these values correctly -->
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4361
<group if="$(eval arg('dev_id') == 1)">
4462
<include file="$(find mission_sequencer)/launch/mission_sequencer.launch">

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