Merge pull request grvcTeam#4 from grvcTeam/master

changes in mavros

px4_bringup/launch/spawn_robot.launch

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

px4_bringup/launch/test_simulate.launch

@@ -21,7 +21,7 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
     </node>
 
     <!-- Launch robot id=1 -->
-    <include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_1">
+    <include file="$(find px4_bringup)/launch/spawn_robot.launch" unless="$(arg multi)">
         <arg name="id" value="1"/>
         <arg name="material" value="Orange"/>
         <arg name="x" default="0"/>
@@ -31,6 +31,15 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
     </include>
 
     <group if="$(arg multi)">
+        <!-- Launch robot id=1 -->
+        <include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_1">
+            <arg name="id" value="1"/>
+            <arg name="material" value="Orange"/>
+            <arg name="x" default="0"/>
+            <arg name="y" default="0"/>
+            <arg name="z" default="0"/>
+            <arg name="yaw" default="0"/>
+        </include>
         <!-- Launch robot id=2 -->
         <include file="$(find px4_bringup)/launch/spawn_robot.launch" ns="uav_2">
             <arg name="id" value="2"/>

px4_bringup/scripts/run_mavros.py

@@ -22,6 +22,8 @@ def main():
                         help='set fcu_url manually in custom mode')
     parser.add_argument('-gcs_url', type=str, default="",
                         help='set gcs_url manually in custom mode')
+    parser.add_argument('-rtcm_topic', type=str, default="",
+                        help='set topic for gps rtk corrections')
     args, unknown = parser.parse_known_args()
     utils.check_unknown_args(unknown)
 
@@ -72,6 +74,8 @@ def main():
 
     # Finally rosrun mavros
     rosrun_args = "rosrun mavros mavros_node __name:=" + "mavros" + " __ns:=" + ns
+    if args.rtcm_topic:
+        rosrun_args = rosrun_args + " mavros/gps_rtk/send_rtcm:=" + args.rtcm_topic
     rosrun_out = open(temp_dir+"/mavros.out", 'w')
     rosrun_err = open(temp_dir+"/mavros.err", 'w')
     try:

robots_description/models/mbzirc/geometry.xacro

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

ual_teleop/config/joy_teleop.yaml

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

ual_teleop/config/8bitdo_nes30_pro.yaml → ual_teleop/config/joysticks/8bitdo_nes30_pro.yaml

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

ual_teleop/config/ds4.yaml → ual_teleop/config/joysticks/ds4.yaml

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

ual_teleop/config/saitek_p3200.yaml → ual_teleop/config/joysticks/saitek_p3200.yaml

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