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modify gcs

This commit is contained in:
Robin Shaun 2020-12-19 18:43:23 +08:00
parent 6f01a71166
commit efc02d10d4
4 changed files with 24 additions and 208 deletions
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4
communication/multi_vehicle_communication.sh
View File

@ -1,7 +1,7 @@
#!/bin/bash
iris_num=0
typhoon_h480_num=6
solo_num=0
typhoon_h480_num=2
solo_num=2
plane_num=0
rover_num=0
standard_vtol_num=0

23
control/gcs/send.py
View File

@ -137,45 +137,51 @@ class Gui2Ros(QMainWindow,xtd_ui.Ui_MainWindow):
if multirotor_get_control[i]:
self.twist[i].linear.x = last_forward[i]
else:
forward = self.q_forward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.x = self.q_forward.get()
last_forward[i] = self.twist.linear.x[i]
self.twist[i].linear.x = forward
last_forward[i] = self.twist[i].linear.x
if self.q_upward.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.z = last_upward[i]
else:
upward = self.q_upward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.z = self.q_upward.get()
self.twist[i].linear.z = upward
last_upward[i] = self.twist[i].linear.z
if self.q_leftward.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.y = last_leftward[i]
else:
leftward = self.q_leftward.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].linear.y = self.q_leftward.get()
self.twist[i].linear.y = leftward
last_leftward[i] = self.twist[i].linear.y
if self.q_orientation.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].angular.z = last_orientation[i]
else:
orientation = self.q_orientation.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.twist[i].angular.z = self.q_orientation.get()
self.twist[i].angular.z = orientation
last_orientation[i] = self.twist[i].angular.z
if self.q_cmd.empty():
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.cmd[i] = ''
else:
cmd = self.q_cmd.get()
for i in range(self.multi_num):
if multirotor_get_control[i]:
self.cmd[i] = self.q_cmd.get()
self.cmd[i] = cmd
print(self.cmd[i])
if self.q_ctrl_leader.empty():
self.ctrl_leader = last_ctrl_leader
else:
@ -203,7 +209,6 @@ class Gui2Ros(QMainWindow,xtd_ui.Ui_MainWindow):
self.leader_cmd_accel_flu_pub.publish(self.twist[i])
self.leader_cmd_pub.publish(self.cmd[i])
break
else:
for i in range(self.multi_num):
if not self.cmd_vel_mask:
@ -212,12 +217,16 @@ class Gui2Ros(QMainWindow,xtd_ui.Ui_MainWindow):
else:
self.multi_cmd_accel_flu_pub[i].publish(self.twist[i])
self.multi_cmd_pub[i].publish(self.cmd[i])
else:
print 'shut down!'
rate.sleep()
if check_stop_flag:
self.q_stop_flag.put(True)
rospy.signal_shutdown('STOP!')
break
def display(self, data):
self.text_show_info.setPlainText(data)

9
control/gcs/xtd_ui.py
View File

@ -805,9 +805,12 @@ class Ui_MainWindow(object):
self.label_control_board_5.setText(_translate("MainWindow", "Settings"))
self.label_uavnumber_4.setText(_translate("MainWindow", "maps:"))
self.comboBox_maps.setItemText(0, _translate("MainWindow", "indoor1"))
self.comboBox_maps.setItemText(1, _translate("MainWindow", "outdoor1"))
self.comboBox_maps.setItemText(2, _translate("MainWindow", "outdoor3"))
self.comboBox_maps.setItemText(3, _translate("MainWindow", "robocup"))
self.comboBox_maps.setItemText(1, _translate("MainWindow", "indoor2"))
self.comboBox_maps.setItemText(2, _translate("MainWindow", "indoor3"))
self.comboBox_maps.setItemText(3, _translate("MainWindow", "outdoor1"))
self.comboBox_maps.setItemText(4, _translate("MainWindow", "outdoor2"))
self.comboBox_maps.setItemText(5, _translate("MainWindow", "outdoor3"))
self.comboBox_maps.setItemText(6, _translate("MainWindow", "robocup"))
self.label_iris.setText(_translate("MainWindow", "iris:"))
self.box_iris_num.setToolTip(_translate("MainWindow", "maximum:+-10.00"))
self.label_typhoon.setText(_translate("MainWindow", "typhoon_h480:"))

196
coordination/launch_generator/multi_vehicle.launch
View File

@ -1,196 +0,0 @@
<?xml version="1.0"?>
<launch>
<!-- MAVROS posix SITL environment launch script -->
<!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
<!-- vehicle model and world -->
<arg name="est" default="ekf2"/>
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/outdoor2.world"/>
<!-- gazebo configs -->
<arg name="gui" default="true"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="paused" default="false"/>
<!-- Gazebo sim -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="gui" value="$(arg gui)"/>
<arg name="world_name" value="$(arg world)"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
<arg name="paused" value="$(arg paused)"/>
</include>
<!-- typhoon_h480_0 -->
<group ns="typhoon_h480_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="0"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:24540@localhost:34580"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18570"/>
<arg name="mavlink_tcp_port" value="4560"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- typhoon_h480_1 -->
<group ns="typhoon_h480_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="1"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:24541@localhost:34581"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="0"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="typhoon_h480"/>
<arg name="sdf" value="typhoon_h480"/>
<arg name="mavlink_udp_port" value="18571"/>
<arg name="mavlink_tcp_port" value="4561"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_0 -->
<group ns="iris_0">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="ID_in_group" value="0"/>
<arg name="fcu_url" default="udp://:24542@localhost:34582"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="18572"/>
<arg name="mavlink_tcp_port" value="4562"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_1 -->
<group ns="iris_1">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="3"/>
<arg name="ID_in_group" value="1"/>
<arg name="fcu_url" default="udp://:24543@localhost:34583"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="3"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="18573"/>
<arg name="mavlink_tcp_port" value="4563"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_2 -->
<group ns="iris_2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="4"/>
<arg name="ID_in_group" value="2"/>
<arg name="fcu_url" default="udp://:24544@localhost:34584"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="3"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="18574"/>
<arg name="mavlink_tcp_port" value="4564"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
<!-- iris_3 -->
<group ns="iris_3">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="5"/>
<arg name="ID_in_group" value="3"/>
<arg name="fcu_url" default="udp://:24545@localhost:34585"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn_xtd.launch">
<arg name="x" value="6"/>
<arg name="y" value="6"/>
<arg name="z" value="0"/>
<arg name="R" value="0"/>
<arg name="P" value="0"/>
<arg name="Y" value="0"/>
<arg name="vehicle" value="iris"/>
<arg name="sdf" value="iris_stereo_camera"/>
<arg name="mavlink_udp_port" value="18575"/>
<arg name="mavlink_tcp_port" value="4565"/>
<arg name="ID" value="$(arg ID)"/>
<arg name="ID_in_group" value="$(arg ID_in_group)"/>
</include>
<!-- MAVROS -->
<include file="$(find mavros)/launch/px4.launch">
<arg name="fcu_url" value="$(arg fcu_url)"/>
<arg name="gcs_url" value=""/>
<arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
<arg name="tgt_component" value="1"/>
</include>
</group>
</launch>
<!--the launch file is generated by XTDrone multi-vehicle generator.py -->