Modified record script and updated tx and new rx script

scripts/record.sh

@@ -19,7 +19,7 @@ exclude=(
 # Every topic containing "compressed"
 '(.*)compressed(.*)'
 # Every topic containing "image_raw"
-'(.*)image_raw(.*)'
+# '(.*)image_raw(.*)'
 # Every topic containing "theora"
 '(.*)theora(.*)'
 # Every topic containing "h264"

scripts/rx_v2.sh

@@ -0,0 +1,177 @@
+#!/bin/bash
+### BEGIN INIT INFO
+# Provides: tmux
+# Required-Start:    $local_fs $network dbus
+# Required-Stop:     $local_fs $network
+# Default-Start:     2 3 4 5
+# Default-Stop:      0 1 6
+# Short-Description: start the uav
+### END INIT INFO
+if [ "$(id -u)" == "0" ]; then
+  exec sudo -u mrs "$0" "$@"
+fi
+
+source $HOME/.bashrc
+
+# location for storing the bag files
+# * do not change unless you know what you are doing
+MAIN_DIR=~/"bag_files"
+
+# the project name
+# * is used to define folder name in ~/$MAIN_DIR
+PROJECT_NAME=just_flying
+
+# the name of the TMUX session
+# * can be used for attaching as 'tmux a -t <session name>'
+SESSION_NAME=mav
+
+# following commands will be executed first in each window
+# * do NOT put ; at the end
+pre_input=""
+
+# define commands
+# 'name' 'command'
+# * DO NOT PUT SPACES IN THE NAMES
+# * "new line" after the command    => the command will be called after start
+# * NO "new line" after the command => the command will wait for user's <enter>
+input=(
+  'Rosbag' 'waitForOffboard; ./record.sh
+'
+  'Sensors' 'waitForTime; roslaunch mrs_uav_deployment sensors.launch
+'
+  'Nimbro' 'waitForTime; rosrun mrs_uav_deployment run_nimbro.py ./config/network_config.yaml `rospack find mrs_uav_deployment`/config/communication_config.yaml
+'
+  'HwApi' 'waitForTime; roslaunch mrs_uav_px4_api api.launch
+'
+  'Status' 'waitForHw; roslaunch mrs_uav_status status.launch
+'
+  'Core' 'waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_deployment`/config/mrs_uav_system/$UAV_TYPE.yaml world_config:=`rospack find mrs_uav_deployment`/config/worlds/world_$WORLD_NAME.yaml custom_config:=./config/custom_config.yaml network_config:=./config/network_config.yaml
+'
+  'AutoStart' 'waitForHw; roslaunch mrs_uav_autostart automatic_start.launch
+'
+  'uvdar_observer' 'waitForRos; roslaunch uvdar_core rw_left_camera_only_dataset_recording.launch
+'
+  'Trajectory' 'history -s rosservice call /'"$UAV_NAME"'/control_manager/stop_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="trajectory_rx.txt";
+'
+# do NOT modify the command list below
+  'EstimDiag' 'waitForHw; rostopic echo /'"$UAV_NAME"'/estimation_manager/diagnostics
+'
+  'kernel_log' 'tail -f /var/log/kern.log -n 100
+'
+  'roscore' 'roscore
+'
+  'simtime' 'waitForRos; rosparam set use_sim_time false
+'
+)
+
+# the name of the window to focus after start
+init_window="Status"
+
+# automatically attach to the new session?
+# {true, false}, default true
+attach=true
+
+###########################
+### DO NOT MODIFY BELOW ###
+###########################
+
+export TMUX_BIN="/usr/bin/tmux -L mrs -f /etc/ctu-mrs/tmux.conf"
+
+# find the session
+FOUND=$( $TMUX_BIN ls | grep $SESSION_NAME )
+
+if [ $? == "0" ]; then
+  echo "The session already exists"
+  $TMUX_BIN -2 attach-session -t $SESSION_NAME
+  exit
+fi
+
+# Absolute path to this script. /home/user/bin/foo.sh
+SCRIPT=$(readlink -f $0)
+# Absolute path this script is in. /home/user/bin
+SCRIPTPATH=`dirname $SCRIPT`
+
+TMUX= $TMUX_BIN new-session -s "$SESSION_NAME" -d
+echo "Starting new session."
+
+# get the iterator
+ITERATOR_FILE="$MAIN_DIR/$PROJECT_NAME"/iterator.txt
+if [ -e "$ITERATOR_FILE" ]
+then
+  ITERATOR=`cat "$ITERATOR_FILE"`
+  ITERATOR=$(($ITERATOR+1))
+else
+  echo "iterator.txt does not exist, creating it"
+  mkdir -p "$MAIN_DIR/$PROJECT_NAME"
+  touch "$ITERATOR_FILE"
+  ITERATOR="1"
+fi
+echo "$ITERATOR" > "$ITERATOR_FILE"
+
+# create file for logging terminals' output
+LOG_DIR="$MAIN_DIR/$PROJECT_NAME/"
+SUFFIX=$(date +"%Y_%m_%d_%H_%M_%S")
+SUBLOG_DIR="$LOG_DIR/"$ITERATOR"_"$SUFFIX""
+TMUX_DIR="$SUBLOG_DIR/tmux"
+mkdir -p "$SUBLOG_DIR"
+mkdir -p "$TMUX_DIR"
+
+# link the "latest" folder to the recently created one
+rm "$LOG_DIR/latest" > /dev/null 2>&1
+rm "$MAIN_DIR/latest" > /dev/null 2>&1
+ln -sf "$SUBLOG_DIR" "$LOG_DIR/latest"
+ln -sf "$SUBLOG_DIR" "$MAIN_DIR/latest"
+
+# create arrays of names and commands
+for ((i=0; i < ${#input[*]}; i++));
+do
+  ((i%2==0)) && names[$i/2]="${input[$i]}"
+  ((i%2==1)) && cmds[$i/2]="${input[$i]}"
+done
+
+# run tmux windows
+for ((i=0; i < ${#names[*]}; i++));
+do
+  $TMUX_BIN new-window -t $SESSION_NAME:$(($i+1)) -n "${names[$i]}"
+done
+
+sleep 3
+
+# start loggers
+for ((i=0; i < ${#names[*]}; i++));
+do
+  $TMUX_BIN pipe-pane -t $SESSION_NAME:$(($i+1)) -o "ts | cat >> $TMUX_DIR/$(($i+1))_${names[$i]}.log"
+done
+
+# send commands
+for ((i=0; i < ${#cmds[*]}; i++));
+do
+  $TMUX_BIN send-keys -t $SESSION_NAME:$(($i+1)) "cd $SCRIPTPATH;
+${pre_input};
+${cmds[$i]}"
+done
+
+# identify the index of the init window
+init_index=0
+for ((i=0; i < ((${#names[*]})); i++));
+do
+  if [ ${names[$i]} == "$init_window" ]; then
+    init_index=$(expr $i + 1)
+  fi
+done
+
+$TMUX_BIN select-window -t $SESSION_NAME:$init_index
+
+if $attach; then
+
+  if [ -z ${TMUX} ];
+  then
+    $TMUX_BIN -2 attach-session -t $SESSION_NAME
+  else
+    tmux detach-client -E "tmux -L mrs a -t $SESSION_NAME"
+  fi
+else
+  echo "The session was started"
+  echo "You can later attach by calling:"
+  echo "  tmux -L mrs a -t $SESSION_NAME"
+fi

scripts/tx.sh

@@ -51,9 +51,9 @@ input=(
 '
   'led_manager' 'waitForRos; roslaunch uvdar_core led_manager.launch
 '
-  'load_sequence' 'waitForRos; history -s  rosservice call /'"$UAV_NAME"'/uvdar_led_manager_node/select_sequences [0,1,2,3]; history -s  rosservice call /'"$UAV_NAME"'/uvdar_led_manager_node/load_sequences;
+  'load_sequence' 'waitForRos; history -s  rosservice call /'"$UAV_NAME"'/uvdar_led_manager_node/select_sequences [1,1,1,1]; history -s  rosservice call /'"$UAV_NAME"'/uvdar_led_manager_node/load_sequences;
 '
-  'Trajectory' 'history -s rosservice call /'"$UAV_NAME"'/control_manager/stop_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="trajectory_tx_h0.3.txt"; history -s roslaunch uvdar_core load_trajectory.launch file:="trajectory_tx.txt";
+  'Trajectory' 'history -s rosservice call /'"$UAV_NAME"'/control_manager/stop_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="v1_tx1.txt"; 
 '
 # do NOT modify the command list below
   'EstimDiag' 'waitForHw; rostopic echo /'"$UAV_NAME"'/estimation_manager/diagnostics
@@ -176,4 +176,4 @@ else
   echo "The session was started"
   echo "You can later attach by calling:"
   echo "  tmux -L mrs a -t $SESSION_NAME"
-fi
+fi