fixing mavros launch

ctu-mrs · Aug 8, 2023 · bd06b2d · bd06b2d
1 parent dd2c81b
commit bd06b2d
Show file tree

Hide file tree

Showing 10 changed files with 34 additions and 12 deletions.
diff --git a/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt b/ros_packages/mrs_uav_gazebo_simulation/CMakeLists.txt
@@ -46,6 +46,11 @@ install(DIRECTORY scripts/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
   )
 
+install(DIRECTORY tmux/
+  USE_SOURCE_PERMISSIONS
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/tmux
+  )
+
 install(DIRECTORY ROMFS/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ROMFS
   )

diff --git a/ros_packages/mrs_uav_gazebo_simulation/scripts/mrs_drone_spawner.py b/ros_packages/mrs_uav_gazebo_simulation/scripts/mrs_drone_spawner.py
@@ -60,7 +60,7 @@ def __init__(self, show_help=False, verbose=False):
 
         self.path_to_launch_file_firmware = pkg_path + os.sep + 'launch' + os.sep + 'run_simulation_firmware.launch'
         self.path_to_launch_file_spawn_model = pkg_path + os.sep + 'launch' + os.sep + 'spawn_simulation_model.launch'
-        self.path_to_launch_file_mavros = pkg_path + os.sep + 'launch' + os.sep + 'run_simulation_mavros.launch'
+        self.path_to_launch_file_mavros = "mrs_uav_px4_api" + os.sep + 'launch' + os.sep + 'mavros_gazebo_simulation.launch'
 
         rospy.init_node('mrs_drone_spawner', anonymous=True)
         rinfo('Node initialization started. All parameters loaded correctly.')

diff --git a/...e_drone/custom_configs/custom_config.yaml → ...e_drone/custom_configs/custom_config.yaml b/...e_drone/custom_configs/custom_config.yaml → ...e_drone/custom_configs/custom_config.yaml
diff --git a/tmux/one_drone/custom_configs/hw_api.yaml → ...tmux/one_drone/custom_configs/hw_api.yaml b/tmux/one_drone/custom_configs/hw_api.yaml → ...tmux/one_drone/custom_configs/hw_api.yaml
diff --git a/tmux/one_drone/layout.json → ...ebo_simulation/tmux/one_drone/layout.json b/tmux/one_drone/layout.json → ...ebo_simulation/tmux/one_drone/layout.json
diff --git a/tmux/one_drone/rviz.rviz → ...azebo_simulation/tmux/one_drone/rviz.rviz b/tmux/one_drone/rviz.rviz → ...azebo_simulation/tmux/one_drone/rviz.rviz
diff --git a/tmux/one_drone/session.yml → ...ebo_simulation/tmux/one_drone/session.yml b/tmux/one_drone/session.yml → ...ebo_simulation/tmux/one_drone/session.yml
diff --git a/ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/start.sh b/ros_packages/mrs_uav_gazebo_simulation/tmux/one_drone/start.sh
@@ -0,0 +1,27 @@
+#!/bin/bash
+
+# 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 $SCRIPT`
+cd "$SCRIPTPATH"
+
+export TMUX_SESSION_NAME=simulation
+export TMUX_SOCKET_NAME=mrs
+
+# start tmuxinator
+tmuxinator start -p ./session.yml
+
+# if we are not in tmux
+if [ -z $TMUX ]; then
+
+  # just attach to the session
+  tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME
+
+# if we are in tmux
+else
+
+  # switch to the newly-started session
+  tmux detach-client -E "tmux -L $TMUX_SOCKET_NAME a -t $TMUX_SESSION_NAME" 
+
+fi
diff --git a/tmux b/tmux
@@ -0,0 +1 @@
+ros_packages/mrs_uav_gazebo_simulation/tmux
diff --git a/tmux/one_drone/start.sh b/tmux/one_drone/start.sh