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Drone ROS Packages
Commit a9a42489 authored by Larkin Heintzman's avatar Larkin Heintzman
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qualisys tracking changes

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Onboard-SDK-ROS/launch/local_test.launch
View file @ a9a42489
<launch>
<rosparam command="load" param="/use_sim_time"> true </rosparam>
<!-- <rosparam file="$(find dji_osdk_ros)/launch/waypoints_musical_drones.json"/> -->
<node pkg="dji_osdk_ros" type="dji_vehicle_node" name="vehicle_node" output="screen">
<!-- node parameters -->
......@@ -36,8 +37,16 @@
</node> -->
<node name="waypointGenerator" type="waypointGeneratorRemote.py" pkg="dji_osdk_ros">
<rosparam command="load" param="anchorPoint"> [37.196986, -80.578257] </rosparam>
<rosparam command="load" param="altitude"> 2.0 </rosparam>
<rosparam command="load" param="anchorPoint"> [37.196941, -80.578335] </rosparam>
<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 command="load" param="altitude"> 10.0 </rosparam>
<rosparam command="load" param="droneNum"> 3 </rosparam>
</node>
......
Onboard-SDK-ROS/scripts/qualisysFeedback.py
View file @ a9a42489
......@@ -6,7 +6,9 @@ from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import Transform
transform = Transform()
def callback(data):
global pub
# save the pose date in transform
transform.rotation = data.pose.orientation
# we must remapp
......@@ -14,17 +16,18 @@ def callback(data):
transform.translation.x = data.pose.position.x
transform.translation.y = data.pose.position.z
transform.translation.z = data.pose.position.y
pub.publish(transform)
def main():
global transform
global pub
rospy.init_node("qualisysFeedback", anonymous = True)
name = rospy.get_param("~trackName")
namespace = rospy.get_param("~qualisysName")
rospy.loginfo("looking for track of name " + str(name) + " ...")
rospy.Subscriber("/" + namespace + "/qualisys/" + name + "/pose", PoseStamped, callback, queue_size = 1)
pub = rospy.Publisher(namespace + "/pose_feedback", Transform, queue_size = 1)
while not rospy.is_shutdown():
pub.publish(transform)
rospy.Subscriber("/" + namespace + "/qualisys/" + name + "/pose", PoseStamped, callback, queue_size = 1)
rospy.spin()
if __name__ == '__main__':
main()
Onboard-SDK-ROS/scripts/waypointGeneratorRemote.py
View file @ a9a42489
#!/usr/bin/python3
from tools import meters2lat_lon, lat_lon2meters
from tools import meters2lat_lon, lat_lon2meters, normalizeAngle
import numpy as np
import rospy
def normalizeAngle(angle):
newAngle = angle%360
newAngle = (newAngle + 360)%360
if(newAngle >= 180):
newAngle -= 360
return newAngle
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")
waypointAltitudeIncrement = baseWaypointAltitude # increase altitude for each drone in team
# musical drones trajectory is convient test case, but general path is possible
# ring sizes
big = 5
med = 3
sml = 1
# 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)
apMeters = lat_lon2meters(anchorPoint)
# print(waypointDict)
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
# for temp in range(droneNum):
# waypointDict["robot_{}".format(temp)] = tempDict
numWaypoints = len(waypointOffsets)
numPositions = len(waypointOffsets) # TODO, add position list to parameters
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
# 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)
positionXY = lat_lon2meters(apMeters) - lat_lon2meters(pt)
# print(waypointDict)
# waypoints
waypointDict["robot_{}".format(d)]["waypoints"].update({"waypoint_{}".format(i) : [i, waypointLatLon[0], waypointLatLon[1], baseWaypointAltitude + d*5, waypointHeading]})
# positions
waypointDict["robot_{}".format(d)]["positions"].update({"position_{}".format(i) : [i, positionXY[0], positionXY[1], baseWaypointAltitude + d*5, waypointHeading]})
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 = (45.0*i)%360.0
# 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
# 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]})
apMeters = lat_lon2meters(anchorPoint)
# do this betta
waypointDict["robot_{}".format(d)]["numWaypoints"] = numWaypoints
waypointDict["robot_{}".format(d)]["numPositions"] = numPositions
# print(waypointDict)
rospy.set_param("/robot_list", waypointDict)
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
# for temp in range(droneNum):
# waypointDict["robot_{}".format(temp)] = tempDict
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__":
......
database_tools/CMakeLists.txt deleted 100644 → 0
View file @ 1f96d6f8
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
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# 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 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/package.xml deleted 100644 → 0
View file @ 1f96d6f8
<?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="larkin@todo.todo">larkin</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>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>std_msgs</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</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>
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