mild updates

base_station/launch/base_station.launch

@@ -16,10 +16,34 @@
       <!-- number of drones to generate waypoints for -->
       <param name="droneNum" type="double" value="2"/>
 
-      <!-- kentland data -->
+      <!-- kentland network data -->
       <rosparam command="load" param="anchorPoint">
         [37.197280, -80.577791]
       </rosparam>
+      <param name="altitude" type="double" value="40"/>
+      <param name="altitudeIncrement" type="double" value="10"/>
+      <rosparam command="load" param="pathPoints">
+        [
+        [
+        [37.197694, -80.578729],
+        [37.198569, -80.578427],
+        [37.198991, -80.576635],
+        [37.198480, -80.575202],
+        [37.197114, -80.573645],
+        [37.196497, -80.574630],
+        [37.195502, -80.576064],
+        [37.195474, -80.577796],
+        [37.196511, -80.579256]
+        ],
+        [
+        ]
+        ]
+      </rosparam>
+
+      <!-- kentland data -->
+      <!-- <rosparam command="load" param="anchorPoint">
+        [37.197280, -80.577791]
+      </rosparam>
       <param name="altitude" type="double" value="60"/>
       <param name="altitudeIncrement" type="double" value="10"/>
       <rosparam command="load" param="pathPoints">
@@ -54,7 +78,7 @@
         [37.196822, -80.578455]
         ]
         ]
-      </rosparam>
+      </rosparam> -->
 
       <!-- drone cage data -->
       <!-- <rosparam command="load" param="anchorPoint">
@@ -90,15 +114,22 @@
     <!-- load machine names, plath, neruda, and home versions -->
     <include file="$(find base_station)/launch/machines.launch"/>
 
-    <!-- <include file="$(find base_station)/launch/remote_vehicle.launch">
+    <include file="$(find base_station)/launch/remote_vehicle.launch">
       <arg name="machine_name" value="marioModem"/>
       <arg name="machine_id" value="0"/>
-    </include> -->
+    </include>
 
     <!-- <include file="$(find base_station)/launch/remote_vehicle.launch">
       <arg name="machine_name" value="nerudaModem"/>
       <arg name="machine_id" value="1"/>
     </include> -->
 
+    <!-- interface testing stuff -->
+    <!-- <group ns="marioModem">
+      <param name="drone_id" type="int" value="0"/>
+      <node pkg="database_tools" type="sqliteHandler.py" name="sqliteHandler" output="screen"/>
+    </group> -->
+
+
 
 </launch>

base_station/launch/remote_vehicle.launch

@@ -22,14 +22,14 @@
   <!-- drone number, passed argument -->
   <param name="drone_id" type="int" value="$(arg machine_id)"/>
   <!-- base movement speed through waypoints -->
-  <param name="base_speed" type="double" value="2.0"/>
+  <param name="base_speed" type="double" value="4.0"/>
 
   <!-- waypoint loading node -->
   <node pkg="dji_sdk" type="waypointDriver.py" name="waypointDriver" output="screen" machine="$(arg machine_name)"/>
   <!-- usb and image activation nodes -->
   <node pkg="dji_sdk" type="imageActivation.py" name="imageActivation" output="screen" machine="$(arg machine_name)"/>
-  <!-- usb and image activation nodes -->
-  <node pkg="database_tools" type="sqliteHandler.py" name="sqliteHandler" output="screen"/>
+  <!-- web interface uploader -->
+  <!-- <node pkg="database_tools" type="sqliteHandler.py" name="sqliteHandler" output="screen"/> -->
 
 </group>
 </launch>