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akruakru
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First release of DroneEmployee stack.
Added air traffic controller & planner. Added simple implementation of drone employee.
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‎.gitignore‎

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*.pyc

‎README.md‎

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# drone_employee_ros
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DroneEmployee ROS stack
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# DroneEmployee ROS stack
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This repository contains ROS packages for **DroneEmployee** project.
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Repository structure:
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* **drone_employee** - quadrotor behaviour
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* **small_atc** - small air traffic controller
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* **small_atc_msgs** - ATC common messages

‎drone_employee/CMakeLists.txt‎

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cmake_minimum_required(VERSION 2.8.3)
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project(drone_employee)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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mavros_msgs
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small_atc_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES dron_employee_ros
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# CATKIN_DEPENDS std_msgs
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# DEPENDS system_lib
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CATKIN_DEPENDS message_runtime small_atc_msgs mavros_msgs
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(dron_employee_ros
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# src/${PROJECT_NAME}/dron_employee_ros.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(dron_employee_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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# add_executable(dron_employee_ros_node src/dron_employee_ros_node.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(dron_employee_ros_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(dron_employee_ros_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS dron_employee_ros dron_employee_ros_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_dron_employee_ros.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎drone_employee/README.md‎

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# Drone employee behaviour ROS package
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## Draft of ROS interface
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### Publish
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* `/ready` :: **std_msgs/bool** - dron is ready to start
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* `/wifi` :: **drone_employee/Wireless** - WiFi ESSID and password for client connection
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* `/video` :: **std_msgs/string** - link to recorded video
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### Subscribe
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* `/target` :: **drone_employee/Target** - client position and roadmap
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‎drone_employee/launch/apm_sitl.launch‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="ident" default="1" />
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<arg name="fcu_url" default="udp://localhost:1455$(arg ident)@" />
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<arg name="gcs_url" default="" />
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<arg name="tgt_system" default="1" />
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<arg name="tgt_component" default="1" />
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<arg name="log_output" default="log" />
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<group ns="dron_$(arg ident)">
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<include file="$(find mavros)/launch/node.launch">
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<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
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<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
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<arg name="fcu_url" value="$(arg fcu_url)" />
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<arg name="gcs_url" value="$(arg gcs_url)" />
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<arg name="tgt_system" value="$(arg tgt_system)" />
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<arg name="tgt_component" value="$(arg tgt_component)" />
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<arg name="log_output" value="$(arg log_output)" />
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</include>
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<include file="$(find drone_employee)/launch/controller.launch" />
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<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
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<arg name="port" value="909$(arg ident)"/>
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</include>
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</group>
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</launch>

‎drone_employee/launch/controller.launch‎

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<node name="state" pkg="drone_employee" type="state_publisher.py" />
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<node name="controller" pkg="drone_employee" type="quad_controller.py" />
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</launch>

‎drone_employee/msg/Target.msg‎

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# Drone target information
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#
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# Message contains client position and roadmap.
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# The client to tracking position
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SatFix client
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# Otherwise client isn't available for tracking use roadmap
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SatFix[] roadmap

‎drone_employee/msg/Wireless.msg‎

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# Drone wireless parameters.
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#
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#
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# Wireless ESSID parameter
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string essid
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# Wireless password
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string password

‎drone_employee/package.xml‎

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<?xml version="1.0"?>
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<package>
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<name>drone_employee</name>
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<version>0.1.0</version>
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<description>The DroneEmployee ROS package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="mail@akru.me">Alexander Krupenkin</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>GPLv3</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/dron_employee_ros</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>small_atc_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>mavros_msgs</build_depend>
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<build_depend>rospy</build_depend>
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<run_depend>message_runtime</run_depend>
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<run_depend>small_atc_msgs</run_depend>
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<run_depend>mavros_msgs</run_depend>
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<run_depend>rospy</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎drone_employee/scripts/mission_wrapper.py‎

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from mavros_msgs.msg import Waypoint, CommandCode
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def waypoint(lat, lon, alt, delay):
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w = Waypoint()
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w.frame = Waypoint.FRAME_GLOBAL
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w.command = CommandCode.NAV_WAYPOINT
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w.is_current = False
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w.autocontinue = True
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w.param1 = delay # Hold time in mession
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w.param2 = 2 # Position trashold in meters
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w.x_lat = lat
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w.y_long = lon
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w.z_alt = alt
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return w
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def rtl():
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w = Waypoint()
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w.command = CommandCode.NAV_RETURN_TO_LAUNCH
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return w
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def waypointWrap(pointList):
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wps = [waypoint(p.latitude, p.longitude, p.altitude, 10) for p in pointList]
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wps.append(rtl())
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return wps

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