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Commit 4351913f authored by Davis, Duane T's avatar Davis, Duane T
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MASTER: Launch file mods to run new architecture

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ap_master/launch/master.launch
+ 55
− 45
View file @ 4351913f
......@@ -43,16 +43,29 @@
<param name='dis_between_land_points' type='double' value="$(arg land_dis)" />
<param name='land_point_lineup_dir' type='double' value="$(arg land_dir)" />
<!-- Core Nodes -->
<node name="autopilot" pkg="autopilot_bridge" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m acs -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)" />
<node name="task_runner" pkg="arsenl_scheduler" type="task_runner.py" output="screen" args="" />
<node name="safety" pkg="ap_safety_monitor" type="safety.py" output="screen" >
<node name="configuration_server" pkg="arsenl_data" type="configuration_server_node.py" output="screen" />
<node name="safety" pkg="arsenl_safety" type="safety.py" output="screen" >
<remap from="safety/heartbeat" to="autopilot/heartbeat_onboard" />
<remap from="safety/gnd_heartbeat" to="autopilot/heartbeat_ground" />
</node>
<node name="network" pkg="ap_network_bridge" type="network.py" output="screen" args="--device $(arg net_dev)" >
<node name="velocity_obstacle" pkg="arsenl_safety" type="velocity_obstacle_node.py" output="screen" args="" >
<remap from="velocity_obstacle/get_ac_limits" to="configuration_server/get_ac_limits" />
<remap from="velocity_obstacle/enable_collision_avoidance" to="safety/enable_collision_avoidance" />
<remap from="velocity_obstacle/payload_inhibit" to="safety/payload_inhibit" />
<remap from="velocity_obstacle/payload_override" to="safety/payload_override" />
<remap from="velocity_obstacle/swarm_uav_states" to="tracker/swarm_uav_states" />
<remap from="velocity_obstacle/red_uav_states" to="tracker/red_uav_states" />
<remap from="velocity_obstacle/swarm_state" to="swarm_control/swarm_state" />
</node>
<node name="autopilot" pkg="arsenl_autopilot" type="mavbridge.py" output="screen" args="--device $(arg ap_dev) --baudrate 1500000 --serial-relief 1024 -m arsenl -m file -m fpr -m slave -m wp -m ap_msg_queue $(arg gps_arg)" />
<node name="network" pkg="arsenl_communications" type="network_node.py" output="screen" args="--device $(arg net_dev)" >
<remap from="network/recv_heart_ground" to="autopilot/heartbeat_ground" />
<remap from="network/recv_arm" to="autopilot/arm" />
<remap from="network/recv_mode" to="autopilot/mode_num" />
......@@ -61,8 +74,8 @@
<remap from="network/recv_guided_goto" to="safety/payload_waypoint" />
<remap from="network/recv_waypoint_goto" to="autopilot/waypoint_goto" />
<remap from="network/recv_ap_reboot" to="autopilot/reboot" />
<remap from="network/stores_release" to="autopilot/stores_release" />
<remap from="network/send_pose" to="autopilot/acs_pose" />
<remap from="network/stores_drop" to="autopilot/stores_drop" />
<remap from="network/send_pose" to="autopilot/arsenl_pose" />
<remap from="network/update_flight_status" to="autopilot/status" />
<remap from="network/slave_setup" to="autopilot/slave_setup" />
<remap from="network/cal_pressure" to="autopilot/cal_pressure" />
......@@ -70,16 +83,15 @@
<remap from="network/demo_servos" to="autopilot/demo_servos" />
<remap from="network/demo_motor" to="autopilot/demo_motor" />
<remap from="network/health_state" to="safety/set_health_state" />
<remap from="network/run_behavior" to="swarm_manager/run_behavior" />
<remap from="network/swarm_behavior" to="swarm_manager/swarm_behavior" />
<remap from="network/set_swarm_state" to="swarm_manager/set_swarm_state" />
<remap from="network/set_subswarm" to="swarm_manager/set_subswarm" />
<remap from="network/subswarm_id" to="swarm_manager/subswarm_id" />
<remap from="network/swarm_state" to="swarm_manager/swarm_state" />
<remap from="network/behavior_summary" to="swarm_manager/behavior_summary" />
<remap from="network/firing_reports" to="swarm_manager/firing_reports" />
<remap from="network/attack_reports" to="swarm_manager/attack_reports" />
<remap from="network/send_swarm_search_waypoint" to="swarm_searcher/send_swarm_search_waypoint" />
<remap from="network/run_behavior" to="swarm_control/run_behavior" />
<remap from="network/swarm_behavior" to="swarm_control/swarm_behavior" />
<remap from="network/set_swarm_state" to="swarm_control/set_swarm_state" />
<remap from="network/set_subswarm" to="swarm_control/set_subswarm" />
<remap from="network/subswarm_id" to="swarm_control/subswarm_id" />
<remap from="network/swarm_state" to="swarm_control/swarm_state" />
<remap from="network/behavior_summary" to="swarm_control/behavior_summary" />
<remap from="network/firing_reports" to="swarm_control/firing_reports" />
<remap from="network/attack_reports" to="swarm_control/attack_reports" />
<remap from="network/param_setlist" to="autopilot/fpr_param_setlist" />
<remap from="network/load_param" to="autopilot/load_param" />
<remap from="network/load_fence" to="autopilot/load_fence" />
......@@ -94,43 +106,41 @@
<remap from="network/fpr_fence_getall" to="autopilot/fpr_fence_getall" />
</node>
<node name="tracker" pkg="ap_perception" type="tracker.py" output="screen" args="" >
<remap from="tracker/acs_pose" to="autopilot/acs_pose" />
<node name="tracker" pkg="arsenl_perception" type="tracker.py" output="screen" args="" >
<remap from="tracker/arsenl_pose" to="autopilot/arsenl_pose" />
<remap from="tracker/recv_pose" to="network/recv_pose" />
<remap from="tracker/recv_red_pose" to="network/recv_red_pose" />
<remap from="tracker/recv_swarm_ctl_state" to="network/recv_swarm_ctl_state" />
<remap from="tracker/recv_swarm_data" to="network/recv_swarm_data" />
<remap from="tracker/net_reset" to="network/net_reset" />
<remap from="tracker/net_killed_summary" to="network/net_killed_summary" />
<remap from="tracker/net_attack_summary" to="network/net_attack_summary" />
<remap from="tracker/swarm_state" to="swarm_manager/swarm_state" />
<remap from="tracker/swarm_behavior" to="swarm_manager/swarm_behavior" />
<remap from="tracker/subswarm_id" to="swarm_manager/subswarm_id" />
<remap from="tracker/swarm_state" to="swarm_control/swarm_state" />
<remap from="tracker/swarm_behavior" to="swarm_control/swarm_behavior" />
<remap from="tracker/subswarm_id" to="swarm_control/subswarm_id" />
</node>
<node name="task_runner" pkg="ap_tasks" type="task_runner.py" output="screen" args="" />
<node name="recv_pose_rate" pkg="ap_logging" type="recv_pose_rate.py" output="screen" args="" />
<node name="swarm_manager" pkg="ap_mission_planning" type="swarm_manager_node.py" output="screen" args="" >
<remap from="swarm_manager/swarm_uav_states" to="tracker/swarm_uav_states" />
<remap from="swarm_manager/red_uav_states" to="tracker/red_uav_states" />
<remap from="swarm_manager/hit_uavs" to="tracker/hit_uavs" />
<remap from="swarm_manager/attack_uavs" to="tracker/attack_uavs" />
<remap from="swarm_manager/payload_waypoint" to="safety/payload_waypoint" />
<remap from="swarm_manager/payload_speed_waypoint" to="safety/payload_speed_waypoint" />
<remap from="swarm_manager/payload_rate" to="safety/payload_rate" />
<remap from="swarm_manager/payload_attitude" to="safety/payload_attitude" />
<remap from="swarm_manager/waypoint_goto" to="autopilot/waypoint_goto" />
<remap from="swarm_manager/status" to="autopilot/status" />
<remap from="swarm_manager/mode_num" to="autopilot/mode_num" />
<remap from="swarm_manager/wp_getlast" to="autopilot/wp_getlast" />
<remap from="swarm_manager/wp_getrange" to="autopilot/wp_getrange" />
<remap from="swarm_manager/stores_release" to="autopilot/stores_release" />
<remap from="swarm_manager/recv_swarm_data" to="network/recv_swarm_data" />
<remap from="swarm_manager/send_swarm_behavior_data" to="network/send_swarm_behavior_data" />
<remap from="swarm_manager/send_swarm_behavior_data_to" to="network/send_swarm_behavior_data_to" />
<remap from="swarm_manager/net_reset" to="network/net_reset" />
<node name="swarm_control" pkg="arsenl_control" type="swarm_control_node.py" output="screen" args="" >
<remap from="swarm_control/swarm_uav_states" to="tracker/swarm_uav_states" />
<remap from="swarm_control/red_uav_states" to="tracker/red_uav_states" />
<remap from="swarm_control/hit_uavs" to="tracker/hit_uavs" />
<remap from="swarm_control/payload_waypoint" to="safety/payload_waypoint" />
<remap from="swarm_control/payload_speed_waypoint" to="safety/payload_speed_waypoint" />
<remap from="swarm_control/payload_rate" to="safety/payload_rate" />
<remap from="swarm_control/payload_attitude" to="safety/payload_attitude" />
<remap from="swarm_control/enable_collision_avoidance" to="safety/enable_collision_avoidance" />
<remap from="swarm_control/waypoint_goto" to="autopilot/waypoint_goto" />
<remap from="swarm_control/status" to="autopilot/status" />
<remap from="swarm_control/mode_num" to="autopilot/mode_num" />
<remap from="swarm_control/wp_getlast" to="autopilot/wp_getlast" />
<remap from="swarm_control/wp_getrange" to="autopilot/wp_getrange" />
<remap from="swarm_control/stores_drop" to="autopilot/stores_drop" />
<remap from="swarm_control/recv_swarm_data" to="network/recv_swarm_data" />
<remap from="swarm_control/send_swarm_behavior_data" to="network/send_swarm_behavior_data" />
<remap from="swarm_control/send_swarm_behavior_data_to" to="network/send_swarm_behavior_data_to" />
<remap from="swarm_control/net_reset" to="network/net_reset" />
<remap from="swarm_control/get_ac_limits" to="configuration_server/get_ac_limits" />
<remap from="swarm_control/get_weapons_config" to="configuration_server/get_weapons_config" />
<remap from="swarm_control/get_battle_box" to="configuration_server/get_battle_box" />
</node>
</launch>
ap_master/launch/sitl.launch
+ 1
− 1
View file @ 4351913f
......@@ -21,7 +21,7 @@
<!-- Launch master with modified args and optional namespace -->
<include file="$(find ap_master)/launch/master.launch" ns="$(arg ns)" >
<include file="$(find arsenl_launch)/launch/master.launch" ns="$(arg ns)" >
<!-- pass ID and Name through -->
<arg name="id" default="$(arg id)" />
<arg name="name" default="$(arg name)" />
......
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