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AlejandroCastillejoAlejandroCastillejo
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Merge pull request grvcTeam#4 from grvcTeam/master
changes in mavros
2 parents fad0ea6 + 4e226f3 commit 9334ab0

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21 files changed

+363
-167
lines changed

21 files changed

+363
-167
lines changed

‎px4_bringup/launch/spawn_robot.launch

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -23,6 +23,7 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="yaw" default="0"/>
26+
<arg name="rtcm_topic" default=""/>
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<group if="$(eval mode == 'sitl')">
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<!-- Spawn model in Gazebo -->
@@ -37,11 +38,11 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
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<!-- Run safety pilot simulator -->
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<!-- WARNING: Run only in simulation! -->
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<node pkg="ual_teleop" type="simulate_safety_pilot.py" name="safety_pilot" output="screen"
40-
args="-id=$(arg id) -joy_file=$(find ual_teleop)/config/saitek_p3200.yaml"/>
41+
args="-id=$(arg id) -joy_name=saitek_p3200"/>
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</group>
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<!-- Run mavros node -->
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<node pkg="px4_bringup" type="run_mavros.py" name="run_mavros_$(arg id)" output="screen"
45-
args="-id=$(arg id) -mode=$(arg mode) -target_ip=$(arg target_ip) -own_ip=$(arg own_ip) -fcu_url=$(arg fcu_url) -gcs_url=$(arg gcs_url)" />
46+
args="-id=$(arg id) -mode=$(arg mode) -target_ip=$(arg target_ip) -own_ip=$(arg own_ip) -fcu_url=$(arg fcu_url) -gcs_url=$(arg gcs_url) -rtcm_topic=$(arg rtcm_topic)" />
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</launch>

‎px4_bringup/launch/test_simulate.launch

Lines changed: 10 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -21,7 +21,7 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
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</node>
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<!-- Launch robot id=1 -->
24-
<include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_1">
24+
<include file="$(find px4_bringup)/launch/spawn_robot.launch" unless="$(arg multi)">
2525
<arg name="id" value="1"/>
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<arg name="material" value="Orange"/>
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<arg name="x" default="0"/>
@@ -31,6 +31,15 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
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</include>
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<group if="$(arg multi)">
34+
<!-- Launch robot id=1 -->
35+
<include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_1">
36+
<arg name="id" value="1"/>
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<arg name="material" value="Orange"/>
38+
<arg name="x" default="0"/>
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<arg name="y" default="0"/>
40+
<arg name="z" default="0"/>
41+
<arg name="yaw" default="0"/>
42+
</include>
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<!-- Launch robot id=2 -->
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<include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_2">
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<arg name="id" value="2"/>

‎px4_bringup/scripts/run_mavros.py

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -22,6 +22,8 @@ def main():
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help='set fcu_url manually in custom mode')
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parser.add_argument('-gcs_url', type=str, default="",
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help='set gcs_url manually in custom mode')
25+
parser.add_argument('-rtcm_topic', type=str, default="",
26+
help='set topic for gps rtk corrections')
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args, unknown = parser.parse_known_args()
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utils.check_unknown_args(unknown)
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@@ -72,6 +74,8 @@ def main():
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# Finally rosrun mavros
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rosrun_args = "rosrun mavros mavros_node __name:=" + "mavros" + " __ns:=" + ns
77+
if args.rtcm_topic:
78+
rosrun_args = rosrun_args + " mavros/gps_rtk/send_rtcm:=" + args.rtcm_topic
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rosrun_out = open(temp_dir+"/mavros.out", 'w')
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rosrun_err = open(temp_dir+"/mavros.err", 'w')
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try:

‎robots_description/models/mbzirc/geometry.xacro

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Original file line numberDiff line numberDiff line change
@@ -82,6 +82,27 @@
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<origin xyz="0 0.24 -0.24" rpy="0 1.57 0" />
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</xacro:camera_macro>
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<!-- Magnetic gripper -->
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<link name="magnetic_gripper">
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<inertial>
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<origin xyz="0 0 0"/>
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<mass value="0.015"/>
90+
<inertia ixx="1e-05" ixy="0" ixz="0" iyy="1e-05" iyz="0" izz="1e-05"/>
91+
</inertial>
92+
<visual>
93+
<origin xyz="0 0 0"/>
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<geometry>
95+
<cylinder radius="0.01" length="0.01"/>
96+
</geometry>
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</visual>
98+
</link>
99+
<joint name="base_to_gripper" type="revolute">
100+
<origin xyz="0 0 -0.2"/>
101+
<parent link="base_link"/>
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<child link="magnetic_gripper"/>
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<limit effort="0" lower="0" upper="0" velocity="0"/>
104+
</joint>
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<!-- Instantiate rotors -->
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<xacro:vertical_rotor
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robot_namespace="${namespace}"

‎ual_teleop/config/joy_teleop.yaml

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,35 @@
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joy_actions:
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secure:
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id: left_shoulder
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take_off:
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id: x
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land:
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id: b
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toggle_headless:
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id: right_shoulder
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speed_down:
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id: left_trigger
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speed_up:
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id: right_trigger
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move_up:
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id: left_analog_y
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reversed: false
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move_yaw:
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id: left_analog_x
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reversed: true
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move_forward:
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id: right_analog_y
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reversed: false
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move_right:
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id: right_analog_x
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reversed: true

‎ual_teleop/config/8bitdo_nes30_pro.yaml renamed to ‎ual_teleop/config/joysticks/8bitdo_nes30_pro.yaml

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Original file line numberDiff line numberDiff line change
@@ -1,75 +1,57 @@
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joy_layout:
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a:
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type: button
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index: 0
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b:
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type: button
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index: 1
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x:
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type: button
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index: 3
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y:
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type: button
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index: 4
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left_shoulder:
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type: button
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index: 6
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right_shoulder:
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type: button
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index: 7
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left_trigger:
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type: button
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index: 8
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right_trigger:
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type: button
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index: 9
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select:
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type: button
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index: 10
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start:
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type: button
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index: 11
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left_thumb:
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type: button
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index: 13
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right_thumb:
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type: button
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index: 14
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left_analog_x:
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type: axis
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index: 0
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reversed: true
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left_analog_y:
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type: axis
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index: 1
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reversed: false
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right_analog_x:
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type: axis
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index: 2
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reversed: true
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right_analog_y:
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type: axis
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index: 3
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reversed: false
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dpad_x:
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type: axis
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index: 6
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reversed: true
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dpad_y:
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type: axis
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index: 7
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reversed: false

‎ual_teleop/config/ds4.yaml renamed to ‎ual_teleop/config/joysticks/ds4.yaml

Lines changed: 0 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -1,75 +1,57 @@
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joy_layout:
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a:
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type: button
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index: 1
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b:
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type: button
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index: 2
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x:
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type: button
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index: 0
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y:
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type: button
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index: 3
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left_shoulder:
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type: button
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index: 4
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right_shoulder:
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type: button
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index: 5
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left_trigger:
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type: button
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index: 6
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right_trigger:
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type: button
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index: 7
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select:
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type: button
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index: 8
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start:
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type: button
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index: 9
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left_thumb:
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type: button
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index: 10
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right_thumb:
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type: button
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index: 11
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left_analog_x:
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type: axis
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index: 0
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reversed: true
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left_analog_y:
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type: axis
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index: 1
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reversed: false
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right_analog_x:
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type: axis
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index: 5
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reversed: true
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right_analog_y:
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type: axis
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index: 2
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reversed: false
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dpad_x:
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type: axis
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index: 5
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reversed: true
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dpad_y:
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type: axis
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index: 6
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reversed: false

‎ual_teleop/config/saitek_p3200.yaml renamed to ‎ual_teleop/config/joysticks/saitek_p3200.yaml

Lines changed: 0 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -1,75 +1,57 @@
11
joy_layout:
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a:
3-
type: button
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index: 2
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b:
6-
type: button
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index: 1
86
x:
9-
type: button
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index: 3
118
y:
12-
type: button
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index: 0
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left_shoulder:
16-
type: button
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index: 4
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right_shoulder:
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type: button
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index: 5
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left_trigger:
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type: button
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index: 6
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right_trigger:
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type: button
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index: 7
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select:
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type: button
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index: 8
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start:
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type: button
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index: 9
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left_thumb:
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type: button
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index: 10
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right_thumb:
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type: button
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index: 11
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left_analog_x:
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type: axis
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index: 0
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reversed: true
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left_analog_y:
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type: axis
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index: 1
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reversed: false
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right_analog_x:
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type: axis
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index: 3
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reversed: true
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right_analog_y:
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type: axis
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index: 4
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reversed: false
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dpad_x:
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type: axis
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index: 5
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reversed: true
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dpad_y:
73-
type: axis
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index: 6
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reversed: false

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