session.yml

name: simulation
root: ./
on_project_start: nums=$(shuf -i 1-30 -n 30 | tr '\n' " "); echo "UAV_NUMBERS=($nums)" > /tmp/random_uav_numbers;
pre_window: source /tmp/random_uav_numbers; export UAV_NAME="uav${UAV_NUMBERS[1]}"; export RUN_TYPE=simulation; export ODOMETRY_TYPE=optflow; export UAV_TYPE=x500; export WORLD_NAME=simulation_local; export SENSORS="garmin_down"
startup_window: status
windows:
  - roscore:
      layout: tiled
      panes:
        - roscore
  - gazebo:
      layout: tiled
      panes:
        - waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
        - waitForOdometry; gz camera -c gzclient_camera -f ${UAV_NAME}; history -s gz camera -c gzclient_camera -f ${UAV_NAME}
  - status:
      layout: tiled
      panes:
        - waitForSimulation; roslaunch mrs_uav_status status.launch
  - spawn:
      layout: tiled
      panes:
        - waitForSimulation; rosservice call /mrs_drone_spawner/spawn "${UAV_NUMBERS[1]} $UAV_TYPE --enable-rangefinder --enable-bluefox-camera"
  - control:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_general core.launch config_uav_manager:=custom_configs/uav_manager.yaml config_odometry:=custom_configs/odometry.yaml
  - optic_flow:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_optic_flow optic_flow.launch
  - takeoff:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_general automatic_start.launch
        - 'waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 2;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
  - goto:
      layout: tiled
      panes:
        - 'history -s rosservice call /$UAV_NAME/control_manager/goto_fcu \"goal: \[10.0, 0.0, 0.0, 1.57\]\"'
  - rviz:
      layout: tiled
      panes:
        - waitForControl; roslaunch mrs_uav_testing rviz_random_simulation.launch
        - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
  - easy_control:
      layout: tiled
      panes:
        - waitForControl; waitForControl; roslaunch mrs_uav_general logitech_joystick.launch
        - waitForControl; waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch
  - layout:
      layout: tiled
      panes:
        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json