From 5b67deb0c63581d2d66d6d460d395833985720f5 Mon Sep 17 00:00:00 2001
From: Xuan0319 <new310049@gmail.com>
Date: Tue, 1 Aug 2023 16:24:22 +0800
Subject: [PATCH] Bio test succeeded

---
 .gitignore                            |  1 -
 class_model/launch/bio_drones.launch  | 45 +++++++++++++++++++++++++++
 class_model/launch/drone1_mqtt.launch | 13 ++++++++
 class_model/launch/drone2_mqtt.launch | 13 ++++++++
 class_model/launch/drone3_mqtt.launch | 13 ++++++++
 class_model/launch/drone4_mqtt.launch | 13 ++++++++
 class_model/launch/drone5_mqtt.launch | 13 ++++++++
 class_model/launch/drones_mqtt.launch |  7 +++++
 class_model/launch/testLib.launch     |  9 ++++++
 class_model/launch/three.launch       | 29 +++++++++++++++++
 class_model/launch/three_bio.launch   | 29 +++++++++++++++++
 iq_sim/launch/five_drone.launch       |  7 +++++
 iq_sim/launch/three_drone.launch      |  7 +++++
 13 files changed, 198 insertions(+), 1 deletion(-)
 create mode 100644 class_model/launch/bio_drones.launch
 create mode 100644 class_model/launch/drone1_mqtt.launch
 create mode 100644 class_model/launch/drone2_mqtt.launch
 create mode 100644 class_model/launch/drone3_mqtt.launch
 create mode 100644 class_model/launch/drone4_mqtt.launch
 create mode 100644 class_model/launch/drone5_mqtt.launch
 create mode 100644 class_model/launch/drones_mqtt.launch
 create mode 100755 class_model/launch/testLib.launch
 create mode 100755 class_model/launch/three.launch
 create mode 100755 class_model/launch/three_bio.launch
 create mode 100644 iq_sim/launch/five_drone.launch
 create mode 100755 iq_sim/launch/three_drone.launch

diff --git a/.gitignore b/.gitignore
index c5e899d..3592f24 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,5 @@
 iq_gnc/
 ROS_controll/
-launch/
 __pycache__/
 *pyc
 *log
diff --git a/class_model/launch/bio_drones.launch b/class_model/launch/bio_drones.launch
new file mode 100644
index 0000000..fc92837
--- /dev/null
+++ b/class_model/launch/bio_drones.launch
@@ -0,0 +1,45 @@
+<launch>
+
+  <group>
+    <node pkg="class_model" type="bio_main" name="drone1" output="screen" ns="/drone1">
+      <param name="namespace" value="/drone1"/>
+      <param name="droneID" value="1"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>
+
+  <group>
+    <node pkg="class_model" type="bio_main2" name="drone2" output="screen" ns="/drone2">
+      <param name="namespace" value="/drone2"/>
+      <param name="droneID" value="2"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>  
+
+  <group>
+    <node pkg="class_model" type="bio_main3" name="drone3" output="screen" ns="/drone3">
+      <param name="namespace" value="/drone3"/>
+      <param name="droneID" value="3"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>  
+
+  <group>
+    <node pkg="class_model" type="bio_main4" name="drone4" output="screen" ns="/drone4">
+      <param name="namespace" value="/drone4"/>
+      <param name="droneID" value="4"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group> 
+
+  <group>
+    <node pkg="class_model" type="bio_main5" name="drone5" output="screen" ns="/drone5">
+      <param name="namespace" value="/drone5"/>
+      <param name="droneID" value="5"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>  
+
+ 
+</launch>
+
diff --git a/class_model/launch/drone1_mqtt.launch b/class_model/launch/drone1_mqtt.launch
new file mode 100644
index 0000000..dde601c
--- /dev/null
+++ b/class_model/launch/drone1_mqtt.launch
@@ -0,0 +1,13 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain.py" name="drone1mqttPub" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain.py" name="drone1mqttSub" output="screen">
+		</node>
+	</group>
+
+</launch>
diff --git a/class_model/launch/drone2_mqtt.launch b/class_model/launch/drone2_mqtt.launch
new file mode 100644
index 0000000..ebc99a2
--- /dev/null
+++ b/class_model/launch/drone2_mqtt.launch
@@ -0,0 +1,13 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain2.py" name="drone2mqttPub" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain2.py" name="drone2mqttSub" output="screen">
+		</node>
+	</group>
+
+</launch>
diff --git a/class_model/launch/drone3_mqtt.launch b/class_model/launch/drone3_mqtt.launch
new file mode 100644
index 0000000..1cbbba5
--- /dev/null
+++ b/class_model/launch/drone3_mqtt.launch
@@ -0,0 +1,13 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain3.py" name="drone3mqttPub" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain3.py" name="drone3mqttSub" output="screen">
+		</node>
+	</group>
+
+</launch>
diff --git a/class_model/launch/drone4_mqtt.launch b/class_model/launch/drone4_mqtt.launch
new file mode 100644
index 0000000..5720c32
--- /dev/null
+++ b/class_model/launch/drone4_mqtt.launch
@@ -0,0 +1,13 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain4.py" name="drone4mqttPub" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain4.py" name="drone4mqttSub" output="screen">
+		</node>
+	</group>
+
+</launch>
diff --git a/class_model/launch/drone5_mqtt.launch b/class_model/launch/drone5_mqtt.launch
new file mode 100644
index 0000000..639e7fc
--- /dev/null
+++ b/class_model/launch/drone5_mqtt.launch
@@ -0,0 +1,13 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="mqttPubMain5.py" name="drone5mqttPub" output="screen">
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="mqttSubMain5.py" name="drone5mqttSub" output="screen">
+		</node>
+	</group>
+
+</launch>
diff --git a/class_model/launch/drones_mqtt.launch b/class_model/launch/drones_mqtt.launch
new file mode 100644
index 0000000..3ffd453
--- /dev/null
+++ b/class_model/launch/drones_mqtt.launch
@@ -0,0 +1,7 @@
+<launch>
+	<include file="$(find class_model)/launch/drone1_mqtt.launch"/>
+	<include file="$(find class_model)/launch/drone2_mqtt.launch"/>
+	<include file="$(find class_model)/launch/drone3_mqtt.launch"/>
+	<include file="$(find class_model)/launch/drone4_mqtt.launch"/>
+	<include file="$(find class_model)/launch/drone5_mqtt.launch"/>
+</launch>
diff --git a/class_model/launch/testLib.launch b/class_model/launch/testLib.launch
new file mode 100755
index 0000000..e8977ec
--- /dev/null
+++ b/class_model/launch/testLib.launch
@@ -0,0 +1,9 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="test_lib" name="test" output="screen">
+
+		</node>
+	</group>
+
+	
+</launch>
diff --git a/class_model/launch/three.launch b/class_model/launch/three.launch
new file mode 100755
index 0000000..73fafc6
--- /dev/null
+++ b/class_model/launch/three.launch
@@ -0,0 +1,29 @@
+<launch>
+	<group>
+		<node pkg="class_model" type="main" name="leader" output="screen" ns="/drone1">
+			<param name="namespace" value="/drone1"/>
+			<param name="droneID" value="1"/>
+			<param name="use_sim_time"  value="true" />
+		</node>
+	</group>
+
+	<group>
+		
+		<node pkg="class_model" type="main" name="follower1" output="screen" ns="/drone2">
+			<param name="namespace" value="/drone2"/>
+			<param name="droneID" value="2"/>
+			<param name="use_sim_time"  value="true" />
+		</node>
+	</group>
+	
+	<group>
+		
+		<node pkg="class_model" type="main" name="follower2" output="screen" ns="/drone3">
+			<param name="namespace" value="/drone3"/>
+			<param name="droneID" value="3"/>
+			<param name="use_sim_time"  value="true" />
+		</node>
+	</group>
+
+
+</launch>
diff --git a/class_model/launch/three_bio.launch b/class_model/launch/three_bio.launch
new file mode 100755
index 0000000..d9d98e7
--- /dev/null
+++ b/class_model/launch/three_bio.launch
@@ -0,0 +1,29 @@
+<launch>
+
+  <group>
+    <node pkg="class_model" type="bio_main" name="drone1" output="screen" ns="/drone1">
+      <param name="namespace" value="/drone1"/>
+      <param name="droneID" value="1"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>
+
+  <group>
+    <node pkg="class_model" type="bio_main2" name="drone2" output="screen" ns="/drone2">
+      <param name="namespace" value="/drone2"/>
+      <param name="droneID" value="2"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group>  
+
+  <group>
+    <node pkg="class_model" type="bio_main3" name="drone3" output="screen" ns="/drone3">
+      <param name="namespace" value="/drone3"/>
+      <param name="droneID" value="3"/>
+      <param name="use_sim_time"  value="true" />
+    </node>
+  </group> 
+
+ 
+</launch>
+
diff --git a/iq_sim/launch/five_drone.launch b/iq_sim/launch/five_drone.launch
new file mode 100644
index 0000000..a907c57
--- /dev/null
+++ b/iq_sim/launch/five_drone.launch
@@ -0,0 +1,7 @@
+<launch>
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find iq_sim)/worlds/five_drone.world"/>
+    <!-- more default parameters can be changed here -->
+  </include>
+</launch>
\ No newline at end of file
diff --git a/iq_sim/launch/three_drone.launch b/iq_sim/launch/three_drone.launch
new file mode 100755
index 0000000..8f838d3
--- /dev/null
+++ b/iq_sim/launch/three_drone.launch
@@ -0,0 +1,7 @@
+<launch>
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find iq_sim)/worlds/three_drone.world"/>
+    <!-- more default parameters can be changed here -->
+  </include>
+</launch>