initial commit

.gitmodules

+[submodule "motion_capture_system"]
+	path = motion_capture_system
+	url = https://github.com/KTH-SML/motion_capture_system.git

CMakeLists.txt

+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

base_station/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(base_station)
+
+## 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
+  geometry_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_msgs
+	message_generation
+)
+
+## 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
+  JoystickParams.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  Overwatch.srv
+  FlightTaskControl.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#   sensor_msgs#   std_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 base_station
+#  CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs
+#  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/${PROJECT_NAME}/base_station.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/base_station_node.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} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${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
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_base_station.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)

base_station/launch/all_sound.launch

+<launch>
+
+
+  <include file="$(find base_station)/launch/machines.launch"/>
+  
+  <include file="$(find base_station)/launch/sound_launch.launch">
+    <arg name="machine_name" value="plathQual"/>
+    <arg name="sound_file" value="/home/larkin/CantinaBand3.wav"/>
+  </include>
+
+  <!-- <include file="$(find base_station)/launch/sound_launch.launch">
+    <arg name="machine_name" value="plathQual"/>
+    <arg name="sound_file" value="/home/larkin/CantinaBand3.wav"/>
+  </include> -->
+
+</launch>

base_station/launch/base_station.launch

+<launch>
+
+    <!-- pick waypoint file here -->
+    <!-- <rosparam file="$(find base_station)/launch/waypoints_musical_drones.json"/> -->
+
+    <!-- clockery -->
+    <!-- <param name="/use_sim_time" value="true"/> -->
+
+    <node name="waypointGenerator" pkg="database_tools" type="waypointGenerator.py">
+      <rosparam command="load" param="anchorPoint">
+        <!-- kentland airstrip anchor point -->
+        <!-- [37.197280, -80.577791] -->
+        <!-- [37.196986, -80.578257] -->
+        <!-- long distance tests, kentland -->
+        [37.196941, -80.578335]
+        <!-- kentland airstrip anchor point -->
+        <!-- [37.223166, -80.432788] -->
+      </rosparam>
+      <!-- nearby tree variation -->
+      <rosparam command="load" param="pathPoints">
+        [
+        <!-- [37.197879, -80.578022],
+        [37.198037, -80.577689],
+        [37.198161, -80.577359],
+        [37.198161, -80.577072],
+        [37.197879, -80.576637] -->
+        ]
+      </rosparam>
+      <!-- back tree line variation -->
+      <!-- <rosparam command="load" param="pathPoints">
+        [
+        [37.198626, -80.580931],
+        [37.199075, -80.580430],
+        [37.199472, -80.580124],
+        [37.199857, -80.579850],
+        [37.200139, -80.579378]
+        ]
+      </rosparam> -->
+      <!-- front edge tree variation -->
+      <!-- <rosparam command="load" param="pathPoints">
+        [
+        [37.196937, -80.578330],
+        [37.198991, -80.580222],
+        [37.199216, -80.579948],
+        [37.199681, -80.579981],
+        [37.199446, -80.579800],
+        [37.199845, -80.578920],
+        [37.199659, -80.578543],
+        [37.199359, -80.577830],
+        [37.199423, -80.577418],
+        [37.199359, -80.576860],
+        [37.198569, -80.575857],
+        [37.196937, -80.578330],
+        ]
+      </rosparam> -->
+
+      <!-- set altitude of all waypoints -->
+      <rosparam command="load" param="altitude"> 10.0 </rosparam>
+      <!-- number of drones to generate waypoints for -->
+      <rosparam command="load" param="droneNum"> 3 </rosparam>
+    </node>
+
+    <!-- then the real qualisys provides the track to follow TESTING -->
+    <!-- <group ns="tracking">
+    <include file="$(find mocap_qualisys)/launch/qualisys.launch">
+      <arg name="server_address" value="192.168.1.207"/>
+    </include>
+    </group> -->
+
+
+    <!-- define all names parameter -->
+    <rosparam command="load" param="nameList">
+      <!-- ["nerudaQual", "plathQual"] -->
+      ["plathModem"]
+    </rosparam>
+
+    <!-- turn on gui interface -->
+    <node name="webserver" pkg="database_tools" type="webserver_launch.bash"/>
+    <!-- load machine names, plath, neruda, and home versions -->
+    <include file="$(find base_station)/launch/machines.launch"/>
+
+    <!-- launch neruda vehicle nodes -->
+    <include file="$(find base_station)/launch/remote_vehicle.launch">
+      <arg name="machine_name" value="plathModem"/>
+      <arg name="machine_id" value="0"/>
+    </include>
+
+    <!-- launch yeats's special bonus nacho flavor nodes -->
+    <!-- <include file="$(find base_station)/launch/remote_vehicle_yeats.launch">
+      <arg name="machine_name" value="yeats"/>
+      <arg name="machine_id" value="2"/>
+    </include> -->
+
+
+</launch>

base_station/launch/interface_demo.launch

+<launch>
+  <!-- turn on gui interface -->
+  <node name="webserver" pkg="database_tools" type="webserver_launch.bash"/>
+
+<node name="waypointGenerator" pkg="database_tools" type="waypointGenerator_interface_demo.py">
+  <rosparam command="load" param="anchorPoint">
+    <!-- long distance tests, kentland -->
+    [37.196941, -80.578335]
+  </rosparam>
+  <!-- nearby tree variation -->
+  <rosparam command="load" param="pathPoints">
+    [
+    [37.198626, -80.580931],
+    [37.199075, -80.580430],
+    [37.199472, -80.580124],
+    [37.199857, -80.579850],
+    [37.200139, -80.579378]
+    ]
+  </rosparam>
+  <!-- set altitude of all waypoints -->
+  <rosparam command="load" param="altitude"> 10.0 </rosparam>
+  <!-- number of drones to generate waypoints for -->
+  <rosparam command="load" param="droneNum"> 3 </rosparam>
+  <rosparam command="load" param="angleOffset"> 30.0 </rosparam>
+</node>
+
+
+<group ns="d1">
+<param name="drone_id" type="int" value="0"/>
+<node name="gps_stream" pkg="database_tools" type="gps_stream.py">
+</node>
+<node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+</group>
+
+<group ns="d2">
+<param name="drone_id" type="int" value="1"/>
+<node name="gps_stream" pkg="database_tools" type="gps_stream.py">
+</node>
+<node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+</group>
+
+<group ns="d3">
+<param name="drone_id" type="int" value="2"/>
+<node name="gps_stream" pkg="database_tools" type="gps_stream.py">
+</node>
+<node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+</group>
+
+</launch>

base_station/launch/machines.launch

+<launch>
+  <machine name="neruda" address="192.168.1.101" env-loader="/opt/ros/noetic/neruda_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="plath" address="192.168.1.102" env-loader="/opt/ros/noetic/plath_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+
+
+  <machine name="plathHouse" address="192.168.1.24" env-loader="/opt/ros/noetic/plath_house_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="nerudaHouse" address="192.168.1.191" env-loader="/opt/ros/noetic/neruda_house_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+
+
+  <machine name="plathPerf" address="192.168.1.10" env-loader="/opt/ros/noetic/plath_perf_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+
+  <machine name="plathModem" address="192.168.111.202" env-loader="/opt/ros/noetic/plath_modem_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="nerudaModem" address="192.168.111.201" env-loader="/opt/ros/noetic/neruda_modem_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+
+  <machine name="plathQual" address="192.168.1.18" env-loader="/opt/ros/noetic/plath_qual_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="nerudaQual" address="192.168.1.19" env-loader="/opt/ros/noetic/neruda_qual_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+
+  <machine name="yeats" address="192.168.1.103" env-loader="/opt/ros/noetic/yeats_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="yeatsHouse" address="192.168.1.198" env-loader="/opt/ros/noetic/yeats_house_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+  <machine name="yeatsModem" address="192.168.111.203" env-loader="/opt/ros/noetic/yeats_modem_env.sh" user="larkin" default="never" timeout="20" password="Meepp973"/>
+</launch>

base_station/launch/remote_vehicle.launch

+<launch>
+<!-- do this for each drone you wish to launch -->
+
+<!-- argument for machine name -->
+<arg name="machine_name"/>
+<!-- argument for machine id -->
+<arg name="machine_id"/>
+
+<group ns="$(arg machine_name)">
+<!-- <group ns="plath-house"> -->
+
+  <!-- <arg name="machine_name"/> -->
+  <!-- <arg name="machine_id"/> -->
+  <node pkg="dji_osdk_ros" type="dji_vehicle_node" name="vehicle_node" output="screen" machine="$(arg machine_name)">
+  <param name="acm_name" type="string" value="/dev/ttyACM0"/>
+  <param name="serial_name" type="string" value="/dev/dji_usb"/>
+  <param name="baud_rate" type="int" value="921600"/>
+  <param name="app_id" type="int" value="1069806"/>
+  <param name="app_version" type="int" value="1"/>
+  <param name="align_time" type="bool" value="false"/>
+  <param name="enc_key" type="string" value="e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd"/>
+  <param name="use_broadcast" type="bool" value="false"/>
+  </node>
+
+  <!-- drone number, passed argument -->
+  <param name="drone_id" type="int" value="$(arg machine_id)"/>
+  <!-- camera_type to use for images, 0 for fpv camera and 1 for gimbal camera -->
+  <param name="camera_type" type="int" value="1"/>
+  <!-- base movement speed through waypoints -->
+  <param name="base_speed" type="double" value="4.0"/>
+  <!-- maximum speed for waypoint traverse -->
+  <param name="max_speed" type="double" value="4.0"/>
+  <!-- relative motion speed scalar -->
+  <param name="speed_scalar" type="double" value="1"/>
+  <!-- <param name="speed_scalar" type="double" value="5.0"/> -->
+  <!-- minimum allowed speed during relative motion -->
+  <param name="min_speed" type="double" value="0.01"/>
+  <!-- maximum yaw speed degs/s -->
+  <param name="max_yaw_speed" type="double" value="5.0"/>
+  <!-- <param name="max_yaw_speed" type="double" value="0.0"/> -->
+  <!-- whether we are mimicing playback or not -->
+  <!-- <param name="position_playback" type="bool" value="true"/> -->
+  <param name="position_playback" type="bool" value="false"/>
+  <!-- actual control loop time lol -->
+  <param name="loop_rate" type="double" value="5"/>
+  <!-- inverse controller damping value -->
+  <param name="controller_damping" type="double" value="20"/>
+  <!-- inverse controller frequency value -->
+  <param name="controller_frequency" type="double" value="0.2"/>
+
+  <!-- waypoint loading node -->
+  <!-- <group if="$(eval arg('machine_id') == 1)"> -->
+  <node pkg="dji_osdk_ros" type="bus_driver" name="bus_driver" output="screen" machine="$(arg machine_name)"/>
+  <!-- </group> -->
+
+  <!-- gui interface and imaging nodes -->
+  <node pkg="dji_osdk_ros" type="image_activation.py" name="image_activation" output="screen" machine="$(arg machine_name)"/>
+  <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+  <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+
+  <!-- QUALISYS BULLSHIT -->
+  <!-- qualisys-like gps reference -->
+  <node name="qualisysSpoof" pkg="database_tools" type="qualisysSpoof.py">
+    <rosparam command="load" param="anchorPoint"> [37.196941, -80.578335] </rosparam>
+  </node>
+
+  <!-- if doing position playback -->
+  <node pkg="dji_osdk_ros" type="qualisysFeedback.py" name="qualisysTracking" output="screen" machine="$(arg machine_name)">
+    <!-- <param name="trackName" type="string" value="$(arg machine_name)"/> -->
+    <param name="trackName" type="string" value="plathQual"/>
+    <param name="qualisysName" type="string" value="tracking"/>
+  </node>
+
+  <!-- sound stuff -->
+  <!-- <arg name="device" default="front:CARD=Headset,DEV=0"/> -->
+  <!-- <remap from="robotsound" to="$(arg machine_name)/robotsound"/> -->
+  <!-- <node pkg="sound_play" type="soundplay_node.py" name="soundplay_node" machine="$(arg machine_name)">
+    <param name="device" value="$(arg device)"/>
+  </node> -->
+
+</group>
+
+</launch>

base_station/launch/remote_vehicle_yeats.launch

+<launch>
+<!-- do this for each drone you wish to launch -->
+
+<!-- argument for machine name -->
+<arg name="machine_name"/>
+<!-- argument for machine id -->
+<arg name="machine_id"/>
+
+<group ns="$(arg machine_name)">
+<!-- <group ns="plath-house"> -->
+
+  <!-- <arg name="machine_name"/> -->
+  <!-- <arg name="machine_id"/> -->
+
+  <node pkg="dji_sdk" type="dji_sdk_node" name="dji_sdk" output="screen" machine="$(arg machine_name)">
+  <param name="acm_name" type="string" value="/dev/ttyACM0"/>
+  <param name="serial_name" type="string" value="/dev/dji_usb"/>
+  <param name="baud_rate" type="int" value="921600"/>
+  <param name="app_id" type="int" value="1069806"/>
+  <param name="app_version" type="int" value="1"/>
+  <param name="align_time" type="bool" value="false"/>
+  <param name="enc_key" type="string" value="e180b993ca8365653437fbafe7211ba040386d77c3c87627882857a11bd8efbd"/>
+  <param name="use_broadcast" type="bool" value="false"/>
+  </node>
+
+
+    <!-- drone number, passed argument -->
+    <param name="drone_id" type="int" value="$(arg machine_id)"/>
+    <!-- camera_type to use for images, 0 for fpv camera and 1 for gimbal camera -->
+    <param name="camera_type" type="int" value="1"/>
+    <!-- base movement speed through waypoints -->
+    <!-- <param name="base_speed" type="double" value="0.5"/> -->
+    <param name="base_speed" type="double" value="5.0"/>
+    <!-- maximum speed for waypoint traverse -->
+    <!-- <param name="max_speed" type="double" value="1.0"/> -->
+    <param name="max_speed" type="double" value="5.0"/>
+    <!-- relative motion speed scalar -->
+    <!-- <param name="speed_scalar" type="double" value="0.01"/> -->
+    <param name="speed_scalar" type="double" value="5.0"/>
+    <!-- minimum allowed speed during relative motion -->
+    <param name="min_speed" type="double" value="0.1"/>
+    <!-- maximum yaw speed degs/s -->
+    <param name="max_yaw_speed" type="double" value="30.0"/>
+    <!-- whether we are mimicing playback or not -->
+    <!-- <param name="position_playback" type="bool" value="true"/> -->
+    <param name="position_playback" type="bool" value="false"/>
+    <!-- maximum move distance allowed, loop time sort of -->
+    <param name="std_move_dist" type="double" value="1.0"/>
+
+  <!-- waypoint loading node -->
+  <!-- <group if="$(eval arg('machine_id') == 1)"> -->
+  <node pkg="bus_driver" type="bus_driver_node" name="bus_driver_node" output="screen" machine="$(arg machine_name)"/>
+  <!-- </group> -->
+
+  <!-- gui interface and imaging nodes -->
+  <node pkg="bus_driver" type="image_activation.py" name="image_activation" output="screen" machine="$(arg machine_name)"/>
+  <node pkg="database_tools" type="sqlite_upload_yeats.py" name="sql_uploader"/>
+  <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+  <!-- <node pkg="bus_driver" type="poseFeedbackConversion.py" name="poseFeedbackConversion" output="screen" machine="$(arg machine_name)">
+    <rosparam command="load" param="angleOffset">
+    -33.0
+    </rosparam>
+  </node> -->
+  <!-- <node name="image_handler" pkg="database_tools" type="image_handler.py"/> -->
+
+  <!-- position sync node, if id == 0 -->
+  <!-- <group if="$(eval arg('machine_id') == 0)">
+    <node pkg="position_sync" type="position_sync_node" name="syncNode" output="screen" machine="$(arg machine_name)"/>
+  </group> -->
+
+</group>
+
+</launch>

base_station/launch/sound_launch.launch

+<launch>
+
+  <!-- argument for machine name -->
+  <arg name="machine_name"/>
+  <!-- argument for which file to play -->
+  <arg name="sound_file"/>
+
+  <!-- <group ns="$(arg machine_name)"> -->
+  <remap from="/robotsound" to="/$(arg machine_name)/robotsound"/>
+  <node pkg="sound_play" type="play.py" name="play" args="$(arg sound_file)" machine="$(arg machine_name)"/>
+  <!-- </group> -->
+
+</launch>

base_station/launch/test_launch.launch

+<launch>
+  <param name="/use_sim_time" value="true"/>
+</launch>

base_station/msg/JoystickParams.msg

+float32 x   # Control with respect to the x axis of the
+            # DJI::OSDK::Control::HorizontalCoordinate.
+float32 y   # Control with respect to the y axis of the
+            # DJI::OSDK::Control::HorizontalCoordinate.
+float32 z   # Control with respect to the z axis, up is positive.
+float32 yaw #Yaw position/velocity control w.r.t. the ground frame.
\ No newline at end of file

base_station/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>base_station</name>
+  <version>0.0.0</version>
+  <description>The base_station package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="llh@todo.todo">llh</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/base_station</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">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>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

base_station/scripts/droneControl.py

+#! /usr/bin/python3
+
+# rospy for the subscriber
+import rospy
+from base_station.srv import Overwatch
+import sys
+
+def main(action, name):
+
+    # read in parameters from command line
+    # namespc = str(rospy.get_param("~name"))
+    # act = int(action)
+    namespc = str(name)
+    action = int(action)
+
+    rospy.init_node("overwatchControl_" + namespc + "_" + str(action), anonymous = True)
+
+    srvName = namespc + "/overwatch"
+
+    rospy.loginfo("calling overwatch control service...")
+    rospy.loginfo("namespace: " + namespc)
+    rospy.loginfo("action: " + str(action))
+    # print("namespace: " + namespc)
+    # print("action: " + str(action))
+
+    # request drone to open stereo images
+    rospy.wait_for_service(srvName)
+    service_proxy = rospy.ServiceProxy(srvName, Overwatch)
+    response = service_proxy(start = True, action = action) # go baby go
+    rospy.loginfo(response)
+
+if __name__ == "__main__":
+    main(sys.argv[1], sys.argv[2])

base_station/scripts/teamControlBash.sh

+#!/bin/bash
+
+# source ros stuff
+source ~/.bashrc
+
+# run requested node(s)
+echo "Running command $1 on all drones..."
+
+for n in $(rosparam get /nameList)
+do
+  if [[ "$n" != "-" ]]
+  then
+    echo "running $1 on $n ..." &
+    # do drone control for each
+    rosrun base_station droneControl.py $1 $n &
+  fi
+done
+echo "done on all nodes."

base_station/srv/FlightTaskControl.srv

+#constant for tasks
+uint8 TASK_GOHOME = 1
+uint8 TASK_POSITION_AND_YAW_CONTROL   = 2
+uint8 TASK_GOHOME_AND_CONFIRM_LANDING = 3
+uint8 TASK_TAKEOFF = 4
+uint8 TASK_VELOCITY_AND_YAWRATE_CONTROL = 5
+uint8 TASK_LAND          = 6
+uint8 START_MOTOR        = 7
+uint8 STOP_MOTOR         = 8
+uint8 TASK_EXIT_GO_HOME  = 12
+uint8 TASK_EXIT_LANDING  = 14
+uint8 TASK_FORCE_LANDING_AVOID_GROUND = 30 #/*!< confirm landing */
+uint8 TASK_FORCE_LANDING              = 31 #/*!< force landing */
+
+#request
+uint8 task    # see constants above for possible tasks
+JoystickParams joystickCommand  #Provide Position and Velocity control
+uint32 velocityControlTimeMs    #Velocity control time
+float32 posThresholdInM  #(Meter)
+float32 yawThresholdInDeg  #(Degree)
+---
+#response
+bool result
+

base_station/srv/Overwatch.srv

+# constants for different actions
+uint8 START_WAYPOINT_PATH = 1
+uint8 START_POSITION_PATH = 2
+uint8 STOP_MOTION = 3
+uint8 LAND = 4
+uint8 GO_HOME = 5
+uint8 TAKEOFF = 6
+uint8 CALIBRATE_POS_REF = 7
+
+# request
+bool start
+uint8 action
+---
+# response
+bool result

database_tools/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(database_tools)
+
+## 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
+  geometry_msgs
+  roscpp
+  rospy
+  sensor_msgs
+  std_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#   sensor_msgs#   std_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 database_tools
+#  CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs
+#  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/${PROJECT_NAME}/database_tools.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/database_tools_node.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} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${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
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_database_tools.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)

database_tools/launch/gui_interface.launch

+<launch>
+
+<!-- machine name, also namespace -->
+<arg name="machine_name"/>
+<!-- machine id -->
+<arg name="machine_id"/>
+
+<group ns="$(arg machine_name)">
+
+  <param name="drone_id" type="int" value="$(arg machine_id)"/>
+  <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+  <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+
+</group>
+
+<!--
+<group ns="nerudaHouse">
+  <param name="drone_id" type="int" value="0"/>
+  <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+  <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+</group>
+
+<group ns="plathHouse">
+  <param name="drone_id" type="int" value="1"/>
+  <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+  <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+</group> -->
+
+</launch>

database_tools/launch/local_test.launch

+<launch>
+
+  <node name="webserver" pkg="database_tools" type="webserver_launch.bash"/>
+  <rosparam file="$(find base_station)/launch/waypoints_musical_drones.json"/>
+
+  <group ns="nerudaHouse">
+    <param name="drone_id" type="int" value="0"/>
+    <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+    <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+    <node pkg="database_tools" type="gps_stream.py" name="gps_streamer"/>
+  </group>
+
+  <group ns="plathHouse">
+    <param name="drone_id" type="int" value="1"/>
+    <node pkg="database_tools" type="sqlite_upload.py" name="sql_uploader"/>
+    <node name="image_handler" pkg="database_tools" type="image_handler.py"/>
+    <node pkg="database_tools" type="gps_stream.py" name="gps_streamer"/>
+  </group>
+
+</launch>

database_tools/launch/waypoint_test.launch

+<launch>
+  <node name="waypointGenerator" pkg="database_tools" type="waypointGenerator.py">
+    <rosparam command="load" param="anchorPoint">
+      <!-- kentland airstrip anchor point -->
+      <!-- [37.197280, -80.577791] -->
+      [37.196986, -80.578257]
+      <!-- kentland airstrip anchor point -->
+      <!-- [37.223166, -80.432788] -->
+    </rosparam>
+    <!-- set altitude of all waypoints -->
+    <rosparam command="load" param="altitude"> 2.0 </rosparam>
+    <!-- number of drones to generate waypoints for -->
+    <rosparam command="load" param="droneNum"> 3 </rosparam>
+  </node>
+</launch>

database_tools/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>database_tools</name>
+  <version>0.0.0</version>
+  <description>The database_tools package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="llh@todo.todo">llh</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/database_tools</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">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>rospy</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

database_tools/scripts/gps_stream.py

+#!/usr/bin/python3
+import rospy
+from sensor_msgs.msg import NavSatFix
+import json
+from tools import meters2lat_lon, lat_lon2meters
+import numpy as np
+
+def normalize(v):
+    norm = np.linalg.norm(v)
+    if norm == 0:
+       return v
+    return v / norm
+
+if __name__ == "__main__":
+    rospy.init_node("gps_streamer")
+    pub = rospy.Publisher("dji_osdk_ros/gps_position", NavSatFix, queue_size=10)
+    drone_id = rospy.get_param("drone_id")
+    updateRate = rospy.Rate(20)
+
+    while not rospy.has_param('/robot_list/robot_' + str(drone_id) + '/waypoints'):
+        rospy.loginfo("waiting for parameter...")
+        updateRate.sleep()
+    waypointDict = rospy.get_param("/robot_list/robot_" + str(drone_id) + "/waypoints")
+    index = 0
+    seq = 0
+    vecPosition = np.array([waypointDict["waypoint_" + str(index)][1], waypointDict["waypoint_" + str(index)][2]])
+    # anchorPoint = [37.223162, -80.432770]
+    # Pi = 3.1415924
+
+    rate = rospy.Rate(10) # publish at 10hz
+    while not rospy.is_shutdown():
+        target = waypointDict["waypoint_" + str(index)]
+
+        vecTarget = np.array([target[1], target[2]])
+        vecPosition = vecPosition + 0.000001*normalize(vecTarget - vecPosition)
+
+        # check if close to target
+        if np.linalg.norm(vecTarget - vecPosition) < 0.000005 and index < (len(waypointDict) - 1):
+            # made it to waypoint, pick next one`
+            index = index + 1
+
+        gpsMsg = NavSatFix()
+        # gpsMsg.header = 0
+        gpsMsg.header.seq = seq
+        # gpsMsg.header.stamp.secs = int(rospy.get_time())
+        # gpsMsg.header.frame_id = 'gps'
+
+        gpsMsg.latitude = vecPosition[0]
+        gpsMsg.longitude = vecPosition[1]
+        gpsMsg.altitude = 5.0
+
+        pub.publish(gpsMsg)
+
+        seq += 1
+        updateRate.sleep()

database_tools/scripts/image_handler.py

+#!/usr/bin/python3
+import rospy
+import cv2
+# ROS Image message
+from sensor_msgs.msg import Image
+# ROS Image message -> OpenCV2 image converter
+from cv_bridge import CvBridge, CvBridgeError
+# OpenCV2 for saving an image
+
+# Instantiate CvBridge
+bridge = CvBridge()
+
+def image_callback(msg):
+    try:
+        # Convert your ROS Image message to OpenCV2
+        cv2_img = bridge.imgmsg_to_cv2(msg, "bgr8")
+        rospy.loginfo("received new image.")
+        # Save your OpenCV2 image as a jpeg
+        cv2.imwrite('/home/llh/sarwebui/media/droneimages/camera_image.jpeg', cv2_img)
+    except CvBridgeError as e:
+        print(e)
+
+def main():
+    rospy.init_node('image_handler')
+
+    # Define your image topic
+    if (rospy.get_param('camera_type') == 0):
+        image_topic = "dji_osdk_ros/fpv_camera_images"
+    else:
+        image_topic = "dji_osdk_ros/main_camera_images"
+    # Set up your subscriber and define its callback
+    rospy.Subscriber(image_topic, Image, image_callback)
+    # Spin until ctrl + c
+    rospy.loginfo("image handler ready for images...")
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()

database_tools/scripts/musicalDronesWaypointGenerator.py

+#!/usr/bin/python3
+from tools import meters2lat_lon, lat_lon2meters, normalizeAngle
+import numpy as np
+import rospy
+
+def generateWaypoints():
+    rospy.init_node("waypointGenerator")
+    anchorPoint = rospy.get_param("~anchorPoint")
+    waypointAltitude = rospy.get_param("~altitude")
+
+    # ring sizes
+    big = 10
+    med = 5
+    sml = 3
+
+    apMeters = lat_lon2meters(anchorPoint)
+
+    waypointOffsets = [
+    [-big, -big],
+    [big, -big],
+    [big, big],
+    [med, med],
+    [-med, med],
+    [-med, -med],
+    [-sml, -sml],
+    [sml, -sml],
+    [sml, sml],
+    [big, -big],
+    ]
+    tempDict = {"waypoints" : {}, "positions" : {}, "numWaypoints" : 0, "numPositions" : 0}
+    waypointDict = {"robot_0" : tempDict, "robot_1" : tempDict}
+
+    numWaypoints = len(waypointOffsets)
+    numPositions = len(waypointOffsets) # TODO, add position list to parameters
+
+    for i, offset in enumerate(waypointOffsets):
+        waypointLatLon = meters2lat_lon([apMeters[0] + offset[0], apMeters[1] + offset[1]])
+        waypointLatLonRev = meters2lat_lon([apMeters[0] - offset[0], apMeters[1] - offset[1]])
+        waypointHeading = normalizeAngle(45*i)
+        # waypoints
+        waypointDict["robot_0"]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLon[0], waypointLatLon[1], waypointAltitude, waypointHeading]})
+        waypointDict["robot_1"]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLonRev[0], waypointLatLonRev[1], waypointAltitude, waypointHeading]})
+        # positions
+        waypointDict["robot_0"]["positions"].update({"position_{}".format(i) : [i, offset[0], offset[1], waypointAltitude, waypointHeading]})
+        waypointDict["robot_1"]["positions"].update({"position_{}".format(i) : [i, -offset[0], -offset[1], waypointAltitude, waypointHeading]})
+
+    # do this betta
+    waypointDict["robot_0"]["numWaypoints"] = numWaypoints
+    waypointDict["robot_0"]["numPositions"] = numPositions
+    waypointDict["robot_1"]["numWaypoints"] = numWaypoints
+    waypointDict["robot_1"]["numPositions"] = numPositions
+
+    rospy.set_param("/robot_list", waypointDict)
+
+if __name__ == "__main__":
+    generateWaypoints()

database_tools/scripts/qualisysSpoof.py

+#!/usr/bin/python3
+
+import rospy
+import numpy as np
+from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import Imu
+from std_msgs.msg import Float32
+from geometry_msgs.msg import PointStamped
+from geometry_msgs.msg import QuaternionStamped
+from geometry_msgs.msg import Transform
+from geometry_msgs.msg import Vector3
+from geometry_msgs.msg import Quaternion
+# from scipy.spatial.transform import Rotation
+from tools import lat_lon2meters, meters2lat_lon
+import math
+from pyproj import Transformer
+
+def point_rotation(origin, pt, ang):
+    # returns the pt rotated about the origin by ang (ang in degrees)
+    c = math.cos(math.radians(ang))
+    s = math.sin(math.radians(ang))
+    # translate to origin
+    pt_temp = [pt[0] - origin[0], pt[1] - origin[1]]
+    pt_spun = [ pt_temp[0]*c - pt_temp[1]*s, pt_temp[0]*s + pt_temp[1]*c ]
+    # translate back to frame
+    pt_spun = [pt_spun[0] + origin[0], pt_spun[1] + origin[1]]
+    return pt_spun
+
+
+def meters2lat_lon(meters_point):
+    # returns point converted to lat lon from meters coordinate system
+    transformer = Transformer.from_crs(3857, 4326)
+    latlon_point = transformer.transform(meters_point[0], meters_point[1])
+    return latlon_point
+
+
+def lat_lon2meters(latlon_point):
+    # returns point converted to meters from lat lon coordinate system
+    transformer = Transformer.from_crs(4326, 3857)
+    meters_point = transformer.transform(latlon_point[0], latlon_point[1])
+    return meters_point
+
+
+def heightCallback(data):
+    global height
+    height = data.data
+
+
+def rotCallback(data):
+    global quat
+    quat = data.quaternion
+
+
+def gpsCallback(data):
+    global quat
+    global height
+    # convert and compare against home point
+    anchorPoint = rospy.get_param("~anchorPoint")
+    apMeters = lat_lon2meters([anchorPoint[0], anchorPoint[1]])
+    cpMeters = lat_lon2meters([data.latitude, data.longitude])
+    currentOffset = [cpMeters[0] - apMeters[0], cpMeters[1] - apMeters[1]]
+
+    # performing dark magics
+    translation = Vector3()
+    translation.x = currentOffset[1]
+    translation.y = currentOffset[0]
+    translation.z = height
+
+    transform = Transform()
+    transform.translation = translation
+    transform.rotation = quat
+    posePublisher.publish(transform)
+
+# standing in for the feedback qualisys stream
+posePublisher = rospy.Publisher("feedback", Transform, queue_size = 1)
+quat = Quaternion()
+height = 0.0
+
+def main():
+    rospy.init_node("qualisysSpoof")
+    anchorPoint = rospy.get_param("~anchorPoint")
+    # dumb just use name spaces
+    rospy.Subscriber("dji_osdk_ros/gps_position", NavSatFix, gpsCallback, queue_size = 1)
+    rospy.Subscriber("dji_osdk_ros/attitude", QuaternionStamped, rotCallback, queue_size = 1)
+    rospy.Subscriber("dji_osdk_ros/height_above_takeoff", Float32, heightCallback, queue_size = 1)
+    rospy.spin()
+    # get anchor point from params
+
+if __name__ == '__main__':
+    main()

database_tools/scripts/sqlite_upload.py

+#!/usr/bin/python3
+import requests
+import rospy
+from sensor_msgs.msg import NavSatFix
+import json
+import datetime
+
+# # create a new device, deviceis is the primary key
+# r = requests.post('http://127.0.0.1:8000/app3/gpsdatas/',auth=('username','password'), data = {'deviceid':'max_testing', 'taskid':'sar_put2','gpsdata':'{'gps':['stamp':004,'lat':-81,'log':37]}'})
+#
+# # update record based on primary key. For example: './max_testing/' is added as pk
+# r = requests.patch('http://127.0.0.1:8000/app3/gpsdatas/max_testing/', auth=('username','password'), data = {'deviceid':'max_testing', 'taskid':'sar_put2','gpsdata':'{'gps':['stamp':004,'lat':-80,'log':38]}'})
+
+def callback(data, args):
+  deviceId = args[0]
+  taskId = args[1]
+  authorization = args[2]
+  baseTable = args[3]
+  gpsTable = args[4]
+  #rospy.loginfo(rospy.get_caller_id() + '%s', data)
+  #rospy.loginfo('connection status: ' + str(mydb.is_connected()))
+  if data.header.seq % 10 == 0: # only update every 10th message to avoid over crowding the sql
+    gps_data = {
+      'gps' : [
+        {
+          'stamp' : data.header.seq,
+          'timestamp' : data.header.stamp.secs,
+          'lat' : data.latitude,
+          'long' : data.longitude
+        },
+      ]
+    }
+
+    gpsData = {'deviceid':deviceId, 'taskid':taskId, 'gpsdata' : json.dumps(gps_data)}
+    try:
+        r = requests.patch(baseTable + gpsTable + deviceId + '/',auth=authorization, data = gpsData)
+    except:
+        pass
+        print("aw fuck it")
+
+def main():
+
+    baseTable = 'http://127.0.0.1:8000'
+    gpsTable = '/gpsdatas/'
+    waypointTable = '/waypointsdata/'
+    authorization = ('larkinheintzman','password')
+    deviceId = 'drone_' + str(rospy.get_param('drone_id'))
+    taskId = 'task_0'
+    topic = 'dji_osdk_ros/gps_position'
+
+    rospy.init_node('sql_uploader', anonymous = True)
+    rospy.Subscriber(topic, NavSatFix, callback, (deviceId, taskId, authorization, baseTable, gpsTable), queue_size = 1)
+    updateRate = rospy.Rate(20)
+
+    while not rospy.has_param('/robot_list/robot_' + str(rospy.get_param('drone_id')) + '/waypoints'):
+        rospy.loginfo("waiting for parameter...")
+        updateRate.sleep()
+
+    # upload waypoints to GUI
+    waypoint_dict = rospy.get_param('/robot_list/robot_' + str(rospy.get_param('drone_id')) + '/waypoints')
+
+    # rospy.loginfo("waypoint dict:")
+    # rospy.loginfo(waypoint_dict)
+
+    waypoint_json = []
+    for i,pt in enumerate(waypoint_dict.keys()):
+        waypoint_json.append({'stamp' : waypoint_dict[pt][0], 'timestamp' : -1, 'lat' : waypoint_dict[pt][1], 'long' : waypoint_dict[pt][2]}) # leaving out altitude for now!
+
+    waypoint_json = sorted(waypoint_json, key = lambda i: i['stamp'])
+
+    waypointData = {'deviceid':deviceId, 'taskid':taskId, 'waypointsdata' : json.dumps(waypoint_json)}
+    try:
+        # post new vehicle
+        r = requests.post(baseTable + waypointTable, auth=authorization, data = waypointData)
+        # patch old vehicle's waypoints
+        r = requests.patch(baseTable + waypointTable + deviceId + '/', auth=authorization, data = waypointData)
+    except:
+        rospy.loginfo("could not post waypoints")
+
+    # also create (post) new device on table
+    gps_data = {
+      'gps' : [
+        {
+          'stamp' : 0,
+          'timestamp' : 0,
+          'lat' : 37.0,
+          'long' : -80
+        },
+      ]
+    }
+    gpsData = {'deviceid':deviceId, 'taskid':taskId, 'gpsdata' : json.dumps(gps_data)}
+    try:
+        r = requests.post(baseTable + gpsTable,auth=authorization, data = gpsData)
+        rospy.loginfo('waypoints updated')
+    except:
+        rospy.loginfo("could not post new gps")
+
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()

database_tools/scripts/sqlite_upload_yeats.py

+#!/usr/bin/python3
+import requests
+import rospy
+from sensor_msgs.msg import NavSatFix
+import json
+import datetime
+
+# # create a new device, deviceis is the primary key
+# r = requests.post('http://127.0.0.1:8000/app3/gpsdatas/',auth=('username','password'), data = {'deviceid':'max_testing', 'taskid':'sar_put2','gpsdata':'{'gps':['stamp':004,'lat':-81,'log':37]}'})
+#
+# # update record based on primary key. For example: './max_testing/' is added as pk
+# r = requests.patch('http://127.0.0.1:8000/app3/gpsdatas/max_testing/', auth=('username','password'), data = {'deviceid':'max_testing', 'taskid':'sar_put2','gpsdata':'{'gps':['stamp':004,'lat':-80,'log':38]}'})
+
+def callback(data, args):
+  deviceId = args[0]
+  taskId = args[1]
+  authorization = args[2]
+  baseTable = args[3]
+  gpsTable = args[4]
+  #rospy.loginfo(rospy.get_caller_id() + '%s', data)
+  #rospy.loginfo('connection status: ' + str(mydb.is_connected()))
+  if data.header.seq % 10 == 0: # only update every 10th message to avoid over crowding the sql
+    gps_data = {
+      'gps' : [
+        {
+          'stamp' : data.header.seq,
+          'timestamp' : data.header.stamp.secs,
+          'lat' : data.latitude,
+          'long' : data.longitude
+        },
+      ]
+    }
+
+    gpsData = {'deviceid':deviceId, 'taskid':taskId, 'gpsdata' : json.dumps(gps_data)}
+    try:
+        r = requests.patch(baseTable + gpsTable + deviceId + '/',auth=authorization, data = gpsData)
+    except:
+        pass
+        print("aw fuck it")
+
+def main():
+
+    baseTable = 'http://127.0.0.1:8000'
+    gpsTable = '/gpsdatas/'
+    waypointTable = '/waypointsdata/'
+    authorization = ('larkinheintzman','password')
+    deviceId = 'drone_' + str(rospy.get_param('drone_id'))
+    taskId = 'task_0'
+    topic = 'dji_sdk/gps_position'
+
+    rospy.init_node('sql_uploader')
+    rospy.Subscriber(topic, NavSatFix, callback, (deviceId, taskId, authorization, baseTable, gpsTable))
+    updateRate = rospy.Rate(20)
+
+    while not rospy.has_param('/robot_list/robot_' + str(rospy.get_param('drone_id')) + '/waypoints'):
+        rospy.loginfo("waiting for parameter...")
+        updateRate.sleep()
+
+    # upload waypoints to GUI
+    waypoint_dict = rospy.get_param('/robot_list/robot_' + str(rospy.get_param('drone_id')) + '/waypoints')
+
+    # rospy.loginfo("waypoint dict:")
+    # rospy.loginfo(waypoint_dict)
+
+    waypoint_json = []
+    for i,pt in enumerate(waypoint_dict.keys()):
+        waypoint_json.append({'stamp' : waypoint_dict[pt][0], 'timestamp' : -1, 'lat' : waypoint_dict[pt][1], 'long' : waypoint_dict[pt][2]}) # leaving out altitude for now!
+
+    waypoint_json = sorted(waypoint_json, key = lambda i: i['stamp'])
+
+    waypointData = {'deviceid':deviceId, 'taskid':taskId, 'waypointsdata' : json.dumps(waypoint_json)}
+    try:
+        # post new vehicle
+        r = requests.post(baseTable + waypointTable, auth=authorization, data = waypointData)
+        # patch old vehicle's waypoints
+        r = requests.patch(baseTable + waypointTable + deviceId + '/', auth=authorization, data = waypointData)
+    except:
+        rospy.loginfo("could not post waypoints")
+
+    # also create (post) new device on table
+    gps_data = {
+      'gps' : [
+        {
+          'stamp' : 0,
+          'timestamp' : 0,
+          'lat' : 37.0,
+          'long' : -80
+        },
+      ]
+    }
+    gpsData = {'deviceid':deviceId, 'taskid':taskId, 'gpsdata' : json.dumps(gps_data)}
+    try:
+        r = requests.post(baseTable + gpsTable,auth=authorization, data = gpsData)
+    except:
+        rospy.loginfo("could not post new gps")
+
+    rospy.loginfo('waypoints updated')
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()

database_tools/scripts/tools.py

+from pyproj import Transformer
+import math
+
+def meters2lat_lon(meters_point):
+    # returns point converted to lat lon from meters coordinate system
+    transformer = Transformer.from_crs(3857, 4326)
+    latlon_point = transformer.transform(meters_point[0], meters_point[1])
+    return latlon_point
+
+def lat_lon2meters(latlon_point):
+    # returns point converted to meters from lat lon coordinate system
+    transformer = Transformer.from_crs(4326, 3857)
+    meters_point = transformer.transform(latlon_point[0], latlon_point[1])
+    return meters_point
+
+def normalizeAngle(angle):
+    newAngle = angle%360
+    newAngle = (newAngle + 360)%360
+    if(newAngle >= 180):
+        newAngle -= 360
+    return newAngle
+
+def point_rotation(origin, pt, ang):
+    # returns the pt rotated about the origin by ang (ang in degrees)
+    c = math.cos(math.radians(ang))
+    s = math.sin(math.radians(ang))
+    # translate to origin
+    pt_temp = [pt[0] - origin[0], pt[1] - origin[1]]
+    pt_spun = [ pt_temp[0]*c - pt_temp[1]*s, pt_temp[0]*s + pt_temp[1]*c ]
+    # translate back to frame
+    pt_spun = [pt_spun[0] + origin[0], pt_spun[1] + origin[1]]
+    return pt_spun

database_tools/scripts/waypointGenerator.py

+#!/usr/bin/python3
+from tools import meters2lat_lon, lat_lon2meters, normalizeAngle, point_rotation
+import numpy as np
+import rospy
+
+def generateWaypoints():
+    rospy.init_node("waypointGenerator")
+    anchorPoint = rospy.get_param("~anchorPoint")
+    pathPoints = rospy.get_param("~pathPoints")
+    baseWaypointAltitude = rospy.get_param("~altitude")
+    droneNum = rospy.get_param("~droneNum")
+    angleOffset = rospy.get_param("~angleOffset")
+
+    # waypointAltitudeIncrement = baseWaypointAltitude # increase altitude for each drone in team
+    waypointAltitudeIncrement = 10 # increase altitude for each drone in team
+
+    # decide if path is "preplanned" or not
+    if (len(pathPoints) != 0):
+        apMeters = lat_lon2meters(anchorPoint)
+        tempDict = {"waypoints" : {}, "positions" : {}, "numWaypoints" : 0, "numPositions" : 0}
+        waypointDict = {}
+        # define dictionary
+        numWaypoints = len(pathPoints)
+        numPositions = len(pathPoints)
+
+        for d in range(droneNum):
+            # rospy.loginfo("blah!")
+            # print(d)
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)]["waypoints"] = {}
+            waypointDict["robot_{}".format(d)]["positions"] = {}
+            for i, pt in enumerate(pathPoints):
+            # for i, offset in enumerate(waypointOffsets):
+                waypointLatLon = pt
+                waypointHeading = 0.0
+                # waypointHeading = normalizeAngle(45*i)
+                latLonPt = lat_lon2meters(pt)
+                positionXY = [latLonPt[0] - apMeters[0], latLonPt[1] - apMeters[1]]
+
+                # waypoints
+                waypointDict["robot_{}".format(d)]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLon[0], waypointLatLon[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+                # positions
+                waypointDict["robot_{}".format(d)]["positions"].update({"position_{}".format(i) : [i, positionXY[0], positionXY[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+
+            # do this betta
+            waypointDict["robot_{}".format(d)]["numWaypoints"] = numWaypoints
+            waypointDict["robot_{}".format(d)]["numPositions"] = numPositions
+        # print(waypointDict)
+        rospy.set_param("/robot_list", waypointDict)
+    else:
+        # musical drones trajectory is convient test case, but general path is possible
+        # ring sizes
+        big = 2.0
+        med = 2.0
+        sml = 2.0
+
+        apMeters = lat_lon2meters(anchorPoint)
+
+        waypointOffsets = [
+        [-big, -big],
+        [big, -big],
+        [big, big],
+        [med, med],
+        [-med, med],
+        [-med, -med],
+        [-sml, -sml],
+        [sml, -sml],
+        [sml, sml],
+        [big, -big],
+        ]
+        tempDict = {"waypoints" : {}, "positions" : {}, "numWaypoints" : 0, "numPositions" : 0}
+        waypointDict = {}
+        # define dictionary
+        numWaypoints = len(waypointOffsets)
+        numPositions = len(waypointOffsets) # TODO, add position list to parameters
+
+        # print(waypointDict)
+
+        for d in range(droneNum):
+            # rospy.loginfo("blah!")
+            # print(d)
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)]["waypoints"] = {}
+            waypointDict["robot_{}".format(d)]["positions"] = {}
+            for i, offset in enumerate(waypointOffsets):
+                waypointLatLon = meters2lat_lon([apMeters[0] + offset[0], apMeters[1] + offset[1]])
+                waypointLatLonRev = meters2lat_lon([apMeters[0] - offset[0], apMeters[1] - offset[1]])
+                waypointHeading = normalizeAngle(45*i)
+
+                # waypoints
+                waypointDict["robot_{}".format(d)]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLon[0], waypointLatLon[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+                # positions
+                waypointDict["robot_{}".format(d)]["positions"].update({"position_{}".format(i) : [i, offset[0], offset[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+
+            # do this betta
+            waypointDict["robot_{}".format(d)]["numWaypoints"] = numWaypoints
+            waypointDict["robot_{}".format(d)]["numPositions"] = numPositions
+        # print(waypointDict)
+        rospy.set_param("/robot_list", waypointDict)
+    return
+    # print(waypointDict)
+
+if __name__ == "__main__":
+    generateWaypoints()

database_tools/scripts/waypointGenerator_interface_demo.py

+#!/usr/bin/python3
+from tools import meters2lat_lon, lat_lon2meters, normalizeAngle, point_rotation
+import numpy as np
+import rospy
+
+def generateWaypoints():
+    rospy.init_node("waypointGenerator")
+    anchorPoint = rospy.get_param("~anchorPoint")
+    pathPoints = rospy.get_param("~pathPoints")
+    baseWaypointAltitude = rospy.get_param("~altitude")
+    droneNum = rospy.get_param("~droneNum")
+    angleOffset = rospy.get_param("~angleOffset")
+
+    # waypointAltitudeIncrement = baseWaypointAltitude # increase altitude for each drone in team
+    waypointAltitudeIncrement = 10 # increase altitude for each drone in team
+
+    # decide if path is "preplanned" or not
+    if (len(pathPoints) != 0):
+        apMeters = lat_lon2meters(anchorPoint)
+        tempDict = {"waypoints" : {}, "positions" : {}, "numWaypoints" : 0, "numPositions" : 0}
+        waypointDict = {}
+        # define dictionary
+        numWaypoints = len(pathPoints)
+        numPositions = len(pathPoints)
+
+        for d in range(droneNum):
+            # rospy.loginfo("blah!")
+            # print(d)
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)] = {}
+            waypointDict["robot_{}".format(d)]["waypoints"] = {}
+            waypointDict["robot_{}".format(d)]["positions"] = {}
+            for i, pt in enumerate(pathPoints):
+            # for i, offset in enumerate(waypointOffsets):
+                # waypointLatLon = pt
+                # calculate angle offset
+                ptMeters = lat_lon2meters(pt)
+                rotatedOffset = point_rotation([0,0], [ptMeters[0] - apMeters[0], ptMeters[1] - apMeters[1]], angleOffset*d)
+                waypointLatLon = meters2lat_lon([rotatedOffset[0] + apMeters[0], rotatedOffset[1] + apMeters[1]])
+                waypointHeading = 0.0
+                latLonPt = lat_lon2meters(pt)
+                positionXY = [latLonPt[0] - apMeters[0], latLonPt[1] - apMeters[1]]
+
+                # waypoints
+                waypointDict["robot_{}".format(d)]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLon[0], waypointLatLon[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+                # positions
+                waypointDict["robot_{}".format(d)]["positions"].update({"position_{}".format(i) : [i, positionXY[0], positionXY[1], baseWaypointAltitude + d*waypointAltitudeIncrement, waypointHeading]})
+
+            # do this betta
+            waypointDict["robot_{}".format(d)]["numWaypoints"] = numWaypoints
+            waypointDict["robot_{}".format(d)]["numPositions"] = numPositions
+        # print(waypointDict)
+        rospy.set_param("/robot_list", waypointDict)
+    return
+    # print(waypointDict)
+
+if __name__ == "__main__":
+    generateWaypoints()

database_tools/scripts/webserver_launch.bash

+#!/usr/bin/bash
+source ~/anaconda3/etc/profile.d/conda.sh
+conda activate sarwebui_env
+python ~/sarwebui/manage.py runserver localhost:8000

motion_capture_system @ 0a0e817d

+Subproject commit 0a0e817deb8f19d4ae8db9c527d2245337f16569

velodyne @ 7ee199f4

+Subproject commit 7ee199f4cdfbd10659afbb8be184f202239694cb