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tanaysaha · Jan 23, 2019 · 79b7673 · 79b7673
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diff --git a/coord_flight/CMakeLists.txt b/coord_flight/CMakeLists.txt
@@ -0,0 +1,212 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(coord_flight)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  trajectory_msgs
+  geometry_msgs
+  roscpp
+  mav_planning_msgs
+  mav_trajectory_generation_ros
+  mav_trajectory_generation
+  nav_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES coord_flight
+#  CATKIN_DEPENDS geometry_msgs roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/coord_flight.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+##add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+ #add_executable(posepub src/nodes/posepub.cpp)
+  add_executable(sub_boi src/sub_boi.cpp)
+  add_executable(traj_boi src/traj_boi.cpp)
+  add_executable(sampler_boi src/sampler_boi.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+ target_link_libraries(sub_boi
+  ${catkin_LIBRARIES}
+ )
+target_link_libraries(traj_boi
+  ${catkin_LIBRARIES}
+ )
+ target_link_libraries(sampler_boi
+  ${catkin_LIBRARIES}
+ )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_coord_flight.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/coord_flight/launch/coord_flight.launch b/coord_flight/launch/coord_flight.launch
@@ -0,0 +1,71 @@
+<launch>
+  <arg name="world_name" default="basic"/>
+  <arg name="enable_logging" default="false"/>
+  <arg name="enable_ground_truth" default="true"/>
+  <arg name="mav_name" default="firefly" />
+
+  <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/>
+  <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/>
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name).world"/>
+    <!-- <arg name="debug" value="true"/> -->
+    <arg name="paused" value="false"/>
+    <!-- <arg name="gui" value="false"/> -->
+  </include>
+
+  <group ns="$(arg mav_name)1">
+    <include file="$(find rotors_gazebo)/launch/spawn_mav.launch">
+      <arg name="mav_name" value="$(arg mav_name)" />
+      <arg name="namespace" value="$(arg mav_name)1" />
+      <arg name="model" value="$(find rotors_description)/urdf/mav_generic_odometry_sensor.gazebo" />
+      <arg name="enable_logging" value="$(arg enable_logging)" />
+      <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+      <arg name="log_file" value="$(arg mav_name)1"/>
+      <arg name="y" value="1.0"/>
+    </include>
+    <node name="mav_linear_mpc" pkg="mav_linear_mpc" type="mav_linear_mpc_node" respawn="true" clear_params="true" output="screen">
+      <remap from="odometry" to="ground_truth/odometry" />
+      <rosparam file="$(find mav_linear_mpc)/resources/linear_mpc_$(arg mav_name).yaml" />
+      <rosparam file="$(find mav_disturbance_observer)/resources/disturbance_observer_$(arg mav_name).yaml"/>
+      <param name="verbose" value="true" />
+      <param name="use_rc_teleop" value="false" />
+      <param name="reference_frame" value="world" />
+    </node>
+    <node name="PID_attitude_controller" pkg="mav_lowlevel_attitude_controller" type="mav_pid_attitude_controller_node" respawn="true" clear_params="true" output="screen">
+      <remap from="odometry" to="ground_truth/odometry" />
+      <rosparam file="$(find mav_lowlevel_attitude_controller)/resources/PID_attitude_$(arg mav_name).yaml" />
+    </node>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="traj_boi" pkg="coord_flight" type="traj_boi" />
+    <node name="trajectory_sampler" pkg="mav_trajectory_generation_ros" type="trajectory_sampler_node" output="screen" />
+  </group>
+
+  <group ns="$(arg mav_name)2">
+    <include file="$(find rotors_gazebo)/launch/spawn_mav.launch">
+      <arg name="mav_name" value="$(arg mav_name)" />
+      <arg name="namespace" value="$(arg mav_name)2" />
+      <arg name="model" value="$(find rotors_description)/urdf/mav_generic_odometry_sensor.gazebo" />
+      <arg name="enable_logging" value="$(arg enable_logging)" />
+      <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" />
+      <arg name="log_file" value="$(arg mav_name)2"/>
+      <arg name="y" value="-1.0"/>
+    </include>
+    <node name="mav_linear_mpc" pkg="mav_linear_mpc" type="mav_linear_mpc_node" respawn="true" clear_params="true" output="screen">
+      <remap from="odometry" to="ground_truth/odometry" />
+      <rosparam file="$(find mav_linear_mpc)/resources/linear_mpc_$(arg mav_name).yaml" />
+      <rosparam file="$(find mav_disturbance_observer)/resources/disturbance_observer_$(arg mav_name).yaml"/>
+      <param name="verbose" value="true" />
+      <param name="use_rc_teleop" value="false" />
+      <param name="reference_frame" value="world" />
+    </node>
+    <node name="PID_attitude_controller" pkg="mav_lowlevel_attitude_controller" type="mav_pid_attitude_controller_node" respawn="true" clear_params="true" output="screen">
+      <remap from="odometry" to="ground_truth/odometry" />
+      <rosparam file="$(find mav_lowlevel_attitude_controller)/resources/PID_attitude_$(arg mav_name).yaml" />
+    </node>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="sub_publisher" pkg="coord_flight" type="sub_boi" />
+  </group>
+
+</launch>
diff --git a/coord_flight/package.xml b/coord_flight/package.xml
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>coord_flight</name>
+  <version>0.0.0</version>
+  <description>The coord_flight package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">parallels</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/coord_flight</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <build_depend>mav_planning_msgs</build_depend>
+  <build_depend>mav_trajectory_generation</build_depend>
+  <build_depend>mav_trajectory_generation_ros</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>trajectory_msgs</build_export_depend>
+  <build_export_depend>mav_trajectory_generation</build_export_depend>
+  <build_export_depend>mav_planning_msgs</build_export_depend>
+  <build_export_depend>mav_trajectory_generation_ros</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>mav_planning_msgs</exec_depend>
+  <exec_depend>mav_trajectory_generation</exec_depend>
+  <exec_depend>mav_trajectory_generation_ros</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>