Skip to content

fix: (minor) add sensor_msgs to ament_target_dependencies #21

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 2 commits into
base: ros2-devel
Choose a base branch
from
Open

fix: (minor) add sensor_msgs to ament_target_dependencies #21

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
49fb214
fix: (minor) add sensor_msgs to ament_target_dependencies
Dec 31, 2022
09714bf
add: separate flight launch files for each drone
Jan 4, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
91 changes: 91 additions & 0 deletions freyja_flight_U1.launch.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,91 @@
launch:

# state customisations
- arg: { name: "state_source", default: "tf-mocap" } # apm, tf-mocap, mocap
- arg: { name: "autopilot", default: "arducopter" } # arducopter, betaflight
- arg: { name: "tf_myframe", default: "U1" }
- arg: { name: "tf_baseframe", default: "map" } # assumed ENU
# controller customisations
- arg: { name: "total_mass", default: "1.00" } # kg, total mass flying
- arg: { name: "thrust_scaler", default: "50.0" } # scales from Newtons to [0..1]
- arg: { name: "bias_compensation", default: "always-off" } # auto, always-{on, off}
- arg: { name: "flatness_ff", default: "false" } # use accel feed-fwd
- arg: { name: "controller_type", default: "pos-vel" } # pos-vel, vel-only, NEvel-Dpos
# operational customisations
- arg: { name: "use_namespace", default: "U1" }
- arg: { name: "use_mavros", default: "false" }
- arg: { name: "comm_port", default: "/dev/ttyUSB0:921600" }
- arg: { name: "use_arbitrator", default: "false" }
# extras
- arg: { name: "use_waypoint_handler", default: "false" }
- arg: { name: "use_examples", default: "false" }

- group:
- push-ros-namespace:
namespace: "$(var use_namespace)"
- node:
pkg: "state_manager"
exec: "state_manager_node"
output: "screen"
param:
- { name: "state_source", value: "$(var state_source)" }
- { name: "tf_rate", value: 100 }
- { name: "tf_myframe", value: "$(var tf_myframe)" }
- { name: "tf_baseframe", value: "$(var tf_baseframe)" }
- { name: "filter_type", value: "kalman" }
- { name: "kf_params", value: [1.0, 0.05, 0.001, 100.0] }

- node:
pkg: "lqg_control"
exec: "lqg_flight_node"
param:
- { name: "total_mass", value: "$(var total_mass)" } #0.85
- { name: "controller_rate", value: 50 }
- { name: "estimator_rate", value: 20 }
- { name: "bias_compensation", value: "$(var bias_compensation)" }
- { name: "apply_est_biases", value: true }
- { name: "apply_extf_corr", value: false }
- { name: "controller_type", value: "$(var controller_type)" }
- { name: "enable_flatness_ff", value: "$(var flatness_ff)" }
remap:
- { from: "pred_ext_forces", to: "ext_forces_gt" }

- node:
if: "$(var use_arbitrator)"
pkg: "flight_mode_arbitrator"
exec: "flight_mode_arbitrator_node"
param:
- { name: "init_hover_pd", value: -1.75 }

- node:
if: "$(var use_waypoint_handler)"
pkg: "waypoint_manager"
exec: "waypoint_manager_node"
param:
- { name: "init_NED", value: [0.0, 1.5, -1.75] }
#remap:
#- { from: "reference_state", to: "target_state" }

- node:
if: "$(eval ' \"$(var autopilot)\" == \"betaflight\" ')"
pkg: "sbus_interface"
exec: "betaflight_sbus_node"
param:
- { name: "sbus_port", value: "$(var comm_port)" }

- group:
- node:
if: "$(var use_mavros)"
pkg: "apm_handler"
exec: "apm_handler_node"
param:
- { name: "thrust_scaler", value: "$(var thrust_scaler)" }

- node:
namespace: "mavros" # add another sub-namespace under the top
if: "$(var use_mavros)"
pkg: "mavros"
exec: "mavros_node"
param:
- from: "$(find-pkg-share freyja_configfiles)/launch/mavros_config_freyja.yaml"
- { name: "fcu_url", value: "$(var comm_port)" }
91 changes: 91 additions & 0 deletions freyja_flight_U2.launch.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,91 @@
launch:

# state customisations
- arg: { name: "state_source", default: "tf-mocap" } # apm, tf-mocap, mocap
- arg: { name: "autopilot", default: "arducopter" } # arducopter, betaflight
- arg: { name: "tf_myframe", default: "U2" }
- arg: { name: "tf_baseframe", default: "map" } # assumed ENU
# controller customisations
- arg: { name: "total_mass", default: "1.00" } # kg, total mass flying
- arg: { name: "thrust_scaler", default: "50.0" } # scales from Newtons to [0..1]
- arg: { name: "bias_compensation", default: "always-off" } # auto, always-{on, off}
- arg: { name: "flatness_ff", default: "false" } # use accel feed-fwd
- arg: { name: "controller_type", default: "pos-vel" } # pos-vel, vel-only, NEvel-Dpos
# operational customisations
- arg: { name: "use_namespace", default: "U2" }
- arg: { name: "use_mavros", default: "false" }
- arg: { name: "comm_port", default: "/dev/ttyUSB0:921600" }
- arg: { name: "use_arbitrator", default: "false" }
# extras
- arg: { name: "use_waypoint_handler", default: "true" }
- arg: { name: "use_examples", default: "false" }

- group:
- push-ros-namespace:
namespace: "$(var use_namespace)"
- node:
pkg: "state_manager"
exec: "state_manager_node"
output: "screen"
param:
- { name: "state_source", value: "$(var state_source)" }
- { name: "tf_rate", value: 100 }
- { name: "tf_myframe", value: "$(var tf_myframe)" }
- { name: "tf_baseframe", value: "$(var tf_baseframe)" }
- { name: "filter_type", value: "kalman" }
- { name: "kf_params", value: [1.0, 0.05, 0.001, 100.0] }

- node:
pkg: "lqg_control"
exec: "lqg_flight_node"
param:
- { name: "total_mass", value: "$(var total_mass)" } #0.85
- { name: "controller_rate", value: 50 }
- { name: "estimator_rate", value: 20 }
- { name: "bias_compensation", value: "$(var bias_compensation)" }
- { name: "apply_est_biases", value: true }
- { name: "apply_extf_corr", value: false }
- { name: "controller_type", value: "$(var controller_type)" }
- { name: "enable_flatness_ff", value: "$(var flatness_ff)" }
remap:
- { from: "pred_ext_forces", to: "ext_forces_gt" }

- node:
if: "$(var use_arbitrator)"
pkg: "flight_mode_arbitrator"
exec: "flight_mode_arbitrator_node"
param:
- { name: "init_hover_pd", value: -1.75 }

- node:
if: "$(var use_waypoint_handler)"
pkg: "waypoint_manager"
exec: "waypoint_manager_node"
param:
- { name: "init_NED", value: [0.0, 0.0, -1.75] }
#remap:
#- { from: "reference_state", to: "target_state" }

- node:
if: "$(eval ' \"$(var autopilot)\" == \"betaflight\" ')"
pkg: "sbus_interface"
exec: "betaflight_sbus_node"
param:
- { name: "sbus_port", value: "$(var comm_port)" }

- group:
- node:
if: "$(var use_mavros)"
pkg: "apm_handler"
exec: "apm_handler_node"
param:
- { name: "thrust_scaler", value: "$(var thrust_scaler)" }

- node:
namespace: "mavros" # add another sub-namespace under the top
if: "$(var use_mavros)"
pkg: "mavros"
exec: "mavros_node"
param:
- from: "$(find-pkg-share freyja_configfiles)/launch/mavros_config_freyja.yaml"
- { name: "fcu_url", value: "$(var comm_port)" }
1 change: 1 addition & 0 deletions state_manager/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,7 @@ ament_target_dependencies( state_manager_node
rclcpp
std_msgs
freyja_msgs
sensor_msgs
geometry_msgs
std_srvs
nav_msgs
Expand Down