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Added real world tmux files and turn on the merging with standard points
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Your Name committed Apr 12, 2024
1 parent 13319f4 commit 511b19a
Showing 4 changed files with 731 additions and 3 deletions.
6 changes: 3 additions & 3 deletions include/detect/uv_led_detect_adaptive.cpp
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Original file line number Diff line number Diff line change
@@ -96,7 +96,7 @@ const std::vector<cv::Point>& standardPoints) {
}
}

//std::vector<cv::Point> final_detected_points = mergePoints(detectedPoints, standardPoints, point_similarity_threshold_);
std::vector<cv::Point> final_detected_points = mergePoints(detectedPoints, standardPoints, point_similarity_threshold_);


/*
@@ -107,7 +107,7 @@ const std::vector<cv::Point>& standardPoints) {
}
*/
//detectedPoints = final_detected_points;
detectedPoints = final_detected_points;
//standardPoints = final_detected_points;

//Fail if no points are detected TODO
@@ -673,7 +673,7 @@ void UVDARLedDetectAdaptive::generateVisualizationAdaptive(const cv::Mat& inputI
*/

// Create a copy of the current image for visualization
//Set the a black background with the same size as the input image
//3the a black background with the same size as the input image

visualization_image = inputImage.clone();

368 changes: 368 additions & 0 deletions launch/rw_three_sided_marlon.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,368 @@
<launch>
<arg name="uav_name" default="$(optenv UAV_NAME uav2)"/>

<arg name="standalone" default="false"/>

<arg unless="$(arg standalone)" name="nodelet" value="load"/>
<arg if="$(arg standalone)" name="nodelet" value="standalone"/>
<arg unless="$(arg standalone)" name="nodelet_manager" value="$(arg uav_name)_uvdar_nodelet_manager"/>
<arg if="$(arg standalone)" name="nodelet_manager" value=""/>

<arg name="threshold" default="50"/>

<arg name="left" default="$(optenv BLUEFOX_UV_LEFT)"/>
<arg name="right" default="$(optenv BLUEFOX_UV_RIGHT)"/>
<arg name="back" default="$(optenv BLUEFOX_UV_BACK)"/>
<arg name="left_camera_name" default="mv_$(arg left)"/>
<arg name="right_camera_name" default="mv_$(arg right)"/>
<arg name="back_camera_name" default="mv_$(arg back)"/>
<arg name="expose_us_left" default="$(optenv BLUEFOX_UV_LEFT_EXPOSE_US)"/>
<arg name="expose_us_right" default="$(optenv BLUEFOX_UV_RIGHT_EXPOSE_US)"/>
<arg name="expose_us_back" default="$(optenv BLUEFOX_UV_BACK_EXPOSE_US)"/>

<arg name="calibrations_folder" default="$(find mrs_uav_deployment)/config/uvdar_calibrations"/>

<arg name="camera_rate" default="60"/>
<arg name="fps" default="$(arg camera_rate)"/>
<arg name="idpf" default="0"/>
<arg name="aec" default="false"/>
<arg name="agc" default="false"/>
<arg name="gain_db" default="0.0"/>
<arg name="cbm" default="0"/>
<arg name="ctm" default="1"/>
<arg name="dcfm" default="0"/>
<arg name="hdr" default="false"/>
<arg name="wbp" default="-1"/>
<arg name="request" default="0"/>
<arg name="mm" default="0"/>
<arg name="jpeg_quality" default="90"/>

<arg name="blink_process_rate" default="10"/>

<arg name="accumulator_length" default="14"/>
<arg name="pitch_steps" default="16"/>
<arg name="yaw_steps" default="16"/>
<arg name="max_pixel_shift" default="4"/>

<arg name="filterDistLength" default="10"/>
<arg name="filterOrientationLength" default="10"/>

<!-- Node Settings -->
<arg name="output" default="screen"/>
<arg name="proc" default="false"/>
<arg name="view" default="false"/>
<arg name="calib" default="false"/>

<arg name="debug" default="false"/>
<arg name="visual_debug" default="false"/>
<!-- <arg name="gui" default="true"/> -->
<arg name="gui" default="false"/>
<arg name="publish_visualization" default="true"/>
<arg name="visualization_rate" default="2"/>

<arg name="publish" default="true"/>
<arg name="useOdom" default="false"/>
<arg name="cemeraRotated" default="false"/>
<arg name="FromVideo" default="false"/>
<arg name="VideoNumber" default="9"/>
<arg name="cellSize" default="64"/>
<arg name="cellOverlay" default="16"/>
<arg name="camNum" default="0"/>
<arg name="Delay" default="100"/>
<arg name="TimeScale" default="1.0"/>

<arg name="mrs_id" default="$(optenv MRS_ID)"/>

<arg name="beacon" default="false"/>

<arg name="output_frame" default="local_origin"/>

<arg name="id1" value="0"/>
<arg name="id2" value="1"/>
<arg name="id3" value="2"/>
<arg name="id4" value="3"/>
<arg name="id5" value="4"/>
<arg name="id6" value="5"/>
<arg name="id7" value="6"/>
<arg name="id8" value="7"/>
<arg name="id9" value="8"/>
<arg name="id10" value="9"/>
<arg name="id11" value="10"/>
<arg name="id12" value="11"/>
<arg name="id13" value="12"/>
<arg name="id14" value="13"/>
<arg name="id15" value="14"/>
<arg name="id16" value="15"/>
<arg name="id17" value="16"/>
<arg name="id18" value="17"/>
<arg name="id19" value="18"/>
<arg name="id20" value="19"/>
<arg name="id21" value="20"/>

<arg name="sequence_file" default="$(find uvdar_core)/config/selected.txt"/>
<arg name="model_file" default="$(find uvdar_core)/config/models/quadrotor_foursided_px4_motor_aligned.txt"/>

<arg name="use_masks" default="true"/>

<arg name="blink_throttle_rate" default="10"/>

<node
name="uvcam_left_tf_$(arg uav_name)"
pkg="tf2_ros"
type="static_transform_publisher"
args="0.03 0.10 0.06 -0.3490658504 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_left"/>

<node
name="uvcam_right_tf_$(arg uav_name)"
pkg="tf2_ros"
type="static_transform_publisher"
args="0.03 -0.10 0.06 -2.792526803 0.0 -1.57079632679 $(arg uav_name)/fcu $(arg uav_name)/uvcam_right"/>

<node
name="uvcam_back_tf_$(arg uav_name)"
pkg="tf2_ros"
type="static_transform_publisher"
args="-0.10 0.0 -0.02 0.0 1.57079632679 3.14159265 $(arg uav_name)/fcu $(arg uav_name)/uvcam_back"/>
<!-- ideal angle: 1.221730476 - pi/2 -->

<!-- <origin xyz="0.108 0 0.085" rpy="1.57079632679 4.71238898038 1.57079632679" /> -->
<!--Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period(milliseconds)-->
<!-- OR -->
<group ns="$(arg uav_name)">

<!-- <node pkg="nodelet" type="nodelet" name="$(arg uav_name)_uvdar_nodelet_manager" args="manager" output="screen" launch-prefix="debug_roslaunch"> -->
<node pkg="nodelet" type="nodelet" name="$(arg uav_name)_uvdar_nodelet_manager" args="manager" output="screen">
<param name="num_worker_threads" value="8" />
</node>


<node pkg="nodelet" type="nodelet" name="uvdar_bluefox_left" args="$(arg nodelet) bluefox2/SingleNodelet $(arg nodelet_manager)" respawn="true" output="screen" launch-prefix="bash -c 'sleep 5; $0 $@'">
<param name="camera_name" type="string" value="$(arg left_camera_name)"/>
<param name="identifier" type="string" value="$(arg left)"/>

<param name="frame_id" type="string" value="uvcam_left_tf_$(arg uav_name)"/>
<param name="fps" type="double" value="$(arg fps)"/>
<param name="idpf" type="int" value="$(arg idpf)"/>
<param name="aec" type="bool" value="$(arg aec)"/>
<param name="expose_us" type="int" value="$(arg expose_us_left)"/>
<param name="agc" type="bool" value="$(arg agc)"/>
<param name="gain_db" type="double" value="$(arg gain_db)"/>
<param name="cbm" type="int" value="$(arg cbm)"/>
<param name="ctm" type="int" value="$(arg ctm)"/>
<param name="dcfm" type="int" value="$(arg dcfm)"/>
<param name="hdr" type="bool" value="$(arg hdr)"/>
<param name="wbp" type="int" value="$(arg wbp)"/>
<param name="request" type="int" value="$(arg request)"/>
<param name="mm" type="int" value="$(arg mm)"/>

<param name="image_raw/compressed/jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="image_raw/theora/keyframe_frequency" value="60" />
<param name="image_raw/theora/target_bitrate" value="50000" />
<param name="image_raw/theora/quality" value="8" />
<param name="image_raw/theora/optimize_for" value="0" />

<remap from="/$(arg uav_name)/uvdar_bluefox_left/image_raw" to="/$(arg uav_name)/uvdar_bluefox/left/image_raw"/>
</node>

<node pkg="nodelet" type="nodelet" name="uvdar_bluefox_right" args="$(arg nodelet) bluefox2/SingleNodelet $(arg nodelet_manager)" respawn="true" output="screen" launch-prefix="bash -c 'sleep 7; $0 $@'">
<param name="camera_name" type="string" value="$(arg right_camera_name)"/>
<param name="identifier" type="string" value="$(arg right)"/>

<param name="frame_id" type="string" value="uvcam_right_tf_$(arg uav_name)"/>
<param name="fps" type="double" value="$(arg fps)"/>
<param name="idpf" type="int" value="$(arg idpf)"/>
<param name="aec" type="bool" value="$(arg aec)"/>
<param name="expose_us" type="int" value="$(arg expose_us_right)"/>
<param name="agc" type="bool" value="$(arg agc)"/>
<param name="gain_db" type="double" value="$(arg gain_db)"/>
<param name="cbm" type="int" value="$(arg cbm)"/>
<param name="ctm" type="int" value="$(arg ctm)"/>
<param name="dcfm" type="int" value="$(arg dcfm)"/>
<param name="hdr" type="bool" value="$(arg hdr)"/>
<param name="wbp" type="int" value="$(arg wbp)"/>
<param name="request" type="int" value="$(arg request)"/>
<param name="mm" type="int" value="$(arg mm)"/>

<param name="image_raw/compressed/jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="image_raw/theora/keyframe_frequency" value="60" />
<param name="image_raw/theora/target_bitrate" value="50000" />
<param name="image_raw/theora/quality" value="8" />
<param name="image_raw/theora/optimize_for" value="0" />

<remap from="/$(arg uav_name)/uvdar_bluefox_right/image_raw" to="/$(arg uav_name)/uvdar_bluefox/right/image_raw"/>
</node>

<node pkg="nodelet" type="nodelet" name="uvdar_bluefox_back" args="$(arg nodelet) bluefox2/SingleNodelet $(arg nodelet_manager)" respawn="true" output="screen" launch-prefix="bash -c 'sleep 7; $0 $@'">
<param name="camera_name" type="string" value="$(arg back_camera_name)"/>
<param name="identifier" type="string" value="$(arg back)"/>

<param name="frame_id" type="string" value="uvcam_back_tf_$(arg uav_name)"/>
<param name="fps" type="double" value="$(arg fps)"/>
<param name="idpf" type="int" value="$(arg idpf)"/>
<param name="aec" type="bool" value="$(arg aec)"/>
<param name="expose_us" type="int" value="$(arg expose_us_back)"/>
<param name="agc" type="bool" value="$(arg agc)"/>
<param name="gain_db" type="double" value="$(arg gain_db)"/>
<param name="cbm" type="int" value="$(arg cbm)"/>
<param name="ctm" type="int" value="$(arg ctm)"/>
<param name="dcfm" type="int" value="$(arg dcfm)"/>
<param name="hdr" type="bool" value="$(arg hdr)"/>
<param name="wbp" type="int" value="$(arg wbp)"/>
<param name="request" type="int" value="$(arg request)"/>
<param name="mm" type="int" value="$(arg mm)"/>

<param name="image_raw/compressed/jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="image_raw/theora/keyframe_frequency" value="60" />
<param name="image_raw/theora/target_bitrate" value="50000" />
<param name="image_raw/theora/quality" value="8" />
<param name="image_raw/theora/optimize_for" value="0" />

<remap from="/$(arg uav_name)/uvdar_bluefox_back/image_raw" to="/$(arg uav_name)/uvdar_bluefox/back/image_raw"/>
</node>


<node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="true">
<!-- <node name="uv_detect" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARDetector $(arg nodelet_manager)" output="screen" respawn="true" launch-prefix="debug_roslaunch"> -->
<!-- <node name="uv_detect" pkg="uvdar" type="uv_detector_node" output="screen" launch-prefix="urxvt -e gdb -q -x /home/viktor/gdb.cmds -/-args"> -->
<param name="uav_name" type = "string" value="$(arg uav_name)"/>
<param name="debug" type="bool" value="$(arg debug)"/>
<!-- <param name="debug" type="bool" value="true"/> -->
<param name="gui" type="bool" value="false"/>
<param name="publish_visualization" type="bool" value="false"/>
<param name="justReport" type="bool" value="true"/>
<param name="threshold" type="int" value="$(arg threshold)"/>
<!-- Params for Marlon's Adaptive Binarization-->
<param name="adaptive_threshold" type="bool" value="true"/>
<param name="adaptive_method" type="string" value="Otsu"/>
<!-- ////////////////////////////////////////// -->

<param name="use_masks" type="bool" value="$(arg use_masks)"/>
<param name="body_name" type = "string" value="$(arg mrs_id)"/>
<rosparam param="mask_file_names" subst_value="True"> ["$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg left).png", "$(arg calibrations_folder)/masks/$(arg mrs_id)_$(arg right).png", "$(arg calibrations_folder)/masks/default_back.png"] </rosparam>

<rosparam param="camera_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam>
<rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam>
<!-- Params for Marlon's Adaptive Binarization-->
<rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam>
<rosparam param="adaptive_logging_topics"> ["adaptive_logging_left", "adaptive_logging_right", "adaptive_logging_back"] </rosparam>
<!-- ////////////////////////////////////////// -->

<remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox/left/image_raw"/>
<remap from="~camera_right" to="/$(arg uav_name)/uvdar_bluefox/right/image_raw"/>
<remap from="~camera_back" to="/$(arg uav_name)/uvdar_bluefox/back/image_raw"/>
<remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/>
<remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/>
<remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/>

<!-- Params for Marlon's Adaptive Binarization-->
<remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left"/>
<remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right"/>
<remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back"/>
<remap from="~adaptive_logging_left" to="/$(arg uav_name)/uvdar/adaptive_logging_left"/>
<remap from="~adaptive_logging_right" to="/$(arg uav_name)/uvdar/adaptive_logging_right"/>
<remap from="~adaptive_logging_back" to="/$(arg uav_name)/uvdar/adaptive_logging_back"/>
<!-- ////////////////////////////////////////// -->

<remap from="~odometry" to="/$(arg uav_name)/mrs_odometry/new_odom"/>
<remap from="~imu" to="mavros/imu/data"/>
</node>

<node name="blink_processor" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="true">
<!-- <node name="blink_processor" pkg="nodelet" type="nodelet" args="$(arg nodelet) uvdar/UVDARBlinkProcessor $(arg nodelet_manager)" output="screen" respawn="true" launch-prefix="roslaunch_debug"> -->
<param name="uav_name" type = "string" value="$(arg uav_name)"/>
<!-- <param name="debug" type="bool" value="$(arg debug)"/> -->
<param name="debug" type="bool" value="false"/>
<param name="visual_debug" type="bool" value="$(arg visual_debug)"/>
<param name="gui" type="bool" value="$(arg gui)"/>
<param name="publish_visualization" type="bool" value="$(arg publish_visualization)"/>
<param name="use_camera_for_visualization" type="bool" value="true"/>
<param name="visualization_rate" type="int" value="$(arg visualization_rate)"/>
<!-- <rosparam param="frequencies" subst_value="true"> [$(arg frequency1), $(arg frequency2), $(arg frequency3), $(arg frequency4)] </rosparam> -->
<rosparam param="signal_ids" subst_value="true"> [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] </rosparam>
<param name="sequence_file" type="string" value="$(arg sequence_file)"/>

<param name="blink_process_rate" type="int" value="$(arg blink_process_rate)"/>

<param name="accumulator_length" type="int" value="$(arg accumulator_length)"/>
<param name="pitch_steps" type="int" value="$(arg pitch_steps)"/>
<param name="yaw_steps" type="int" value="$(arg yaw_steps)"/>
<param name="max_pixel_shift" type="int" value="$(arg max_pixel_shift)"/>
<param name="nullify_radius" type="int" value="5"/>

<rosparam param="camera_topics"> ["camera_left", "camera_right", "camera_back"] </rosparam>
<rosparam param="points_seen_topics"> ["points_seen_left", "points_seen_right", "points_seen_back"] </rosparam>
<rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam>
<rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] </rosparam>

<rosparam param="omta_logging_topics"> ["omta_logging_left", "omta_logging_right", "omta_logging_back"] </rosparam>
<rosparam param="omta_all_seq_info_topics"> ["omta_all_seq_info_left", "omta_all_seq_info_right", "omta_all_seq_info_back"] </rosparam>

<remap from="~camera_left" to="/$(arg uav_name)/uvdar_bluefox/left/image_raw"/>
<remap from="~camera_right" to="/$(arg uav_name)/uvdar_bluefox/right/image_raw"/>
<remap from="~camera_back" to="/$(arg uav_name)/uvdar_bluefox/back/image_raw"/>
<remap from="~points_seen_left" to="/$(arg uav_name)/uvdar/points_seen_left"/>
<remap from="~points_seen_right" to="/$(arg uav_name)/uvdar/points_seen_right"/>
<remap from="~points_seen_back" to="/$(arg uav_name)/uvdar/points_seen_back"/>
<remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left"/>
<remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right"/>
<remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back"/>
<remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/>
<remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/>
<remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/>
<!-- <remap from="~visualization" to="/$(arg uav_name)/uvdar/blink_visualization/image_raw"/> -->

<remap from="~omta_logging_left" to="/$(arg uav_name)/uvdar/omta_logging_left"/>
<remap from="~omta_logging_right" to="/$(arg uav_name)/uvdar/omta_logging_right"/>
<remap from="~omta_logging_back" to="/$(arg uav_name)/uvdar/omta_logging_back"/>

<remap from="~omta_all_seq_info_left" to="/$(arg uav_name)/uvdar/omta_all_seq_info_left"/>
<remap from="~omta_all_seq_info_right" to="/$(arg uav_name)/uvdar/omta_all_seq_info_right"/>
<remap from="~omta_all_seq_info_back" to="/$(arg uav_name)/uvdar/omta_all_seq_info_back"/>
</node>

<node name="throttle_blinkers_left" type="throttle" pkg="topic_tools"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_left $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_left/throttled" />
<node name="throttle_blinkers_right" type="throttle" pkg="topic_tools"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_right $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_right/throttled" />
<node name="throttle_blinkers_back" type="throttle" pkg="topic_tools"
args="messages /$(arg uav_name)/uvdar/blinkers_seen_back $(arg blink_throttle_rate) /$(arg uav_name)/uvdar/blinkers_seen_back/throttled" />

<node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" output="screen" >
<!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out -/-instr-atstart=no -/-collect-atstart=yes"> -->
<!-- <node name="uvdar_pose_calculator_node" pkg="uvdar_core" type="uvdar_pose_calculator_node" launch-prefix="valgrind -/-tool=callgrind -/-callgrind-out-file=/home/viktor/callgrind.out"> -->
<param name="uav_name" type = "string" value="$(arg uav_name)"/>
<param name="debug" type="bool" value="false"/>
<!-- <param name="debug" type="bool" value="false"/> -->
<!-- <param name="gui" type="bool" value="false"/> -->
<param name="gui" type="bool" value="false"/>
<param name="publish_visualization" type="bool" value="false"/>
<param name="publish_constituents" type="bool" value="true"/>
<!-- <param name="publish_visualization" type="bool" value="false"/> -->
<rosparam param="signal_ids" subst_value="true"> [$(arg id1), $(arg id2), $(arg id3), $(arg id4), $(arg id5), $(arg id6), $(arg id7), $(arg id8), $(arg id9), $(arg id10), $(arg id11), $(arg id12), $(arg id13), $(arg id14), $(arg id15), $(arg id16), $(arg id17), $(arg id18), $(arg id19), $(arg id20), $(arg id21)] </rosparam>

<param name="quadrotor" type="bool" value="true"/>
<param name="custom_model" type="bool" value="true"/>
<param name="model_file" type="string" value="$(arg model_file)"/>
<param name="beacon" type="bool" value="false"/>

<rosparam param="blinkers_seen_topics"> ["blinkers_seen_left", "blinkers_seen_right", "blinkers_seen_back"] </rosparam>
<rosparam param="estimated_framerate_topics"> ["estimated_framerate_left", "estimated_framerate_right", "estimated_framerate_back"] </rosparam>
<rosparam param="camera_frames" subst_value="true"> ["$(arg uav_name)/uvcam_left", "$(arg uav_name)/uvcam_right", "$(arg uav_name)/uvcam_back"] </rosparam>

<remap from="~blinkers_seen_left" to="/$(arg uav_name)/uvdar/blinkers_seen_left/throttled"/>
<remap from="~blinkers_seen_right" to="/$(arg uav_name)/uvdar/blinkers_seen_right/throttled"/>
<remap from="~blinkers_seen_back" to="/$(arg uav_name)/uvdar/blinkers_seen_back/throttled"/>
<remap from="~estimated_framerate_left" to="/$(arg uav_name)/uvdar/estimated_framerate_left"/>
<remap from="~estimated_framerate_right" to="/$(arg uav_name)/uvdar/estimated_framerate_right"/>
<remap from="~estimated_framerate_back" to="/$(arg uav_name)/uvdar/estimated_framerate_back"/>

<rosparam param="calib_files" subst_value="true"> ["$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg left).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg right).txt", "$(arg calibrations_folder)/camera_calibrations/calib_results_bf_uv_$(arg back).txt"] </rosparam>

<remap from="~constituentHypotheses" to="/$(arg uav_name)/uvdar/constituentHypotheses"/>
<remap from="~measuredPoses" to="/$(arg uav_name)/uvdar/measuredPoses"/>

<param name="output_frame" type="string" value="$(arg output_frame)"/>
</node>
</group>

</launch>
181 changes: 181 additions & 0 deletions scripts/rx.sh
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#!/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_three_sided_marlon.launch
'
'uvdar_filter' 'waitForRos; roslaunch uvdar_core uvdar_kalman.launch output_frame:='"$UAV_NAME"'/stable_origin
'
'uav_waypoint_flier' 'export '"$UAV_NAME"'; waitForControl; roslaunch example_waypoint_flier example_waypoint_flier.launch; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/fly_to_first_waypoint; export '"$UAV_NAME"'; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/start_waypoints_following;export '"$UAV_NAME"'; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/stop_waypoints_following;
'
'record' 'waitForRos; history -s rosbag record -O ~/Desktop/MRS_Master_Project/rosbags/simulation/static_static_topics_5m_0.4.bag /uav1/uvdar/adaptive_logging_back /uav1/uvdar/adaptive_logging_left /uav1/uvdar/adaptive_logging_right /uav1/uvdar/blinkers_seen_back /uav1/uvdar/blinkers_seen_left /uav1/uvdar/blinkers_seen_right /uav1/control_manager/control_reference --duration=30s;
'
# do NOT modify the command list below
'EstimDiag' 'waitForHw; rostopic echo /'"$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
179 changes: 179 additions & 0 deletions scripts/tx.sh
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#!/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
'
'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;
'
'uav_waypoint_flier' 'export '"$UAV_NAME"'; waitForControl; roslaunch example_waypoint_flier example_waypoint_flier.launch; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/fly_to_first_waypoint; export '"$UAV_NAME"'; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/start_waypoints_following;export '"$UAV_NAME"'; history -s rosservice call /'"$UAV_NAME"'/example_waypoint_flier/stop_waypoints_following;
'
# 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

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