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DroneControl
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Bio test succeeded

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protobuf
Xuan0319 3 years ago
parent e525815992
commit 5b67deb0c6
13 changed files with 198 additions and 1 deletions
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1
.gitignore vendored
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iq_gnc/
ROS_controll/
launch/
__pycache__/
*pyc
*log

45
class_model/launch/bio_drones.launch
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<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>

13
class_model/launch/drone1_mqtt.launch
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<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>

13
class_model/launch/drone2_mqtt.launch
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<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>

13
class_model/launch/drone3_mqtt.launch
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<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>

13
class_model/launch/drone4_mqtt.launch
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<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>

13
class_model/launch/drone5_mqtt.launch
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<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>

7
class_model/launch/drones_mqtt.launch
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<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>

9
class_model/launch/testLib.launch
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<launch>
<group>
<node pkg="class_model" type="test_lib" name="test" output="screen">
</node>
</group>
</launch>

29
class_model/launch/three.launch
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<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>

29
class_model/launch/three_bio.launch
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<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>

7
iq_sim/launch/five_drone.launch
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<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>

7
iq_sim/launch/three_drone.launch
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<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>
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