diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt b/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt deleted file mode 100755 index 9fdbe0ebd..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(tello_description) - -find_package(ament_cmake REQUIRED) - -#============= -# Generate N urdf files, each with unique robot and frame names -# Source file is in ${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml -# Generated files are in ${CMAKE_CURRENT_BINARY_DIR}/urdf/telloX.urdf -#============= - -file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/urdf") - -foreach (INDEX RANGE 0 8) - if (${INDEX} EQUAL 0) - set(SUFFIX "") - set(TOPIC_NS "solo") - else () - set(SUFFIX "_${INDEX}") - set(TOPIC_NS "drone${INDEX}") - endif () - set(URDF_FILE "${CMAKE_CURRENT_BINARY_DIR}/urdf/tello${SUFFIX}.urdf") - message(STATUS "creating rules for ${URDF_FILE}") - add_custom_command( - OUTPUT ${URDF_FILE} - COMMAND ${PYTHON_EXECUTABLE} "/home/guillermo/tello_ws/src/tello_ros/tello_description/src/replace.py" - "${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml" "suffix=${SUFFIX}" "topic_ns=${TOPIC_NS}" ">" "${URDF_FILE}" - DEPENDS urdf/tello.xml - COMMENT "Generate ${URDF_FILE}" - VERBATIM - ) - # TODO investigate why configure_file isn't working - # configure_file("urdf/tello.xml" ${URDF_FILE}) - add_custom_target(generate_urdf${SUFFIX} ALL DEPENDS ${URDF_FILE}) -endforeach () - -#============= -# Install -#============= - -install( - DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/urdf" - DESTINATION share/${PROJECT_NAME} -) - -#============= -# Run ament macros -#============= - -ament_package() diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/package.xml b/CustomRobots/tello_phy/tello_ros/tello_description/package.xml deleted file mode 100755 index fab7d6c10..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_description/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - tello_description - 0.1.0 - tello_ros description files - - Clyde McQueen - BSD - - https://github.com/clydemcqueen/tello_ros.git - https://github.com/clydemcqueen/tello_ros/issues - - Clyde McQueen - Peter Mullen - - ament_cmake - - - ament_cmake - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/src/replace.py b/CustomRobots/tello_phy/tello_ros/tello_description/src/replace.py deleted file mode 100755 index bfc61e38d..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_description/src/replace.py +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/python - -""" -Replace strings like ${key} with a value -""" - -import sys -from typing import Dict, List - - -def replace(s: str, d: Dict[str, str]) -> str: - for k, v in d.items(): - long_k = '${' + k + '}' - s = s.replace(long_k, v) - return s - - -def parse_args(argv: List[str]) -> Dict[str, str]: - d = {} - for a in argv: - p = a.split('=') - if len(p) != 2: - print('ignoring "%r"' % a, file=sys.stderr) - continue - d[p[0]] = p[1] - return d - - -if len(sys.argv) < 2: - print('usage: replace.py something.xml foo=1 bar=2.0 fee=string random="also a string"', file=sys.stderr) - sys.exit(1) - -f = open(sys.argv[1], 'r') -print(replace(f.read(), parse_args(sys.argv[2:]))) diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/src/tello1.urdf b/CustomRobots/tello_phy/tello_ros/tello_description/src/tello1.urdf deleted file mode 100755 index d16aa296d..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_description/src/tello1.urdf +++ /dev/null @@ -1,157 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${topic_ns} - 1 - base_link${suffix} - 0 0 0 - - - - - - - - - 30.0 - - 0.96 - - 960 - 720 - R8G8B8 - - - 0.1 - 300 - - - gaussian - - 0.0 - 0.007 - - - - true - 0.0 - this_is_ignored - image_raw - camera_info - camera_link${suffix} - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/urdf/tello.xml b/CustomRobots/tello_phy/tello_ros/tello_description/urdf/tello.xml deleted file mode 100755 index 59deee4e9..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_description/urdf/tello.xml +++ /dev/null @@ -1,156 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${topic_ns} - 1 - base_link${suffix} - 0 0 0 - - - - - - - - - 30.0 - - 0.96 - - 960 - 720 - R8G8B8 - - - 0.1 - 300 - - - gaussian - - 0.0 - 0.007 - - - - true - 0.0 - this_is_ignored - image_raw - camera_info - camera_link${suffix} - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/CMakeLists.txt b/CustomRobots/tello_phy/tello_ros/tello_gazebo/CMakeLists.txt deleted file mode 100755 index 2297482ea..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/CMakeLists.txt +++ /dev/null @@ -1,92 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(tello_gazebo) - -#============= -# Setup -#============= - -# Default to C99 -if (NOT CMAKE_C_STANDARD) - set(CMAKE_C_STANDARD 99) -endif () - -# Default to C++14 -if (NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif () - -# Emulate colcon -if ($ENV{CLION_IDE}) - message("Running inside CLion") - set(tello_msgs_DIR "${PROJECT_SOURCE_DIR}/../../../install/tello_msgs/share/tello_msgs/cmake") - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRUN_INSIDE_CLION") -endif () - -# Find packages -find_package(ament_cmake REQUIRED) -find_package(gazebo REQUIRED) # Note uppercase variables in /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake -find_package(gazebo_dev REQUIRED) -find_package(gazebo_ros REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(rclcpp REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(tello_msgs REQUIRED) - -# Local includes -include_directories( - include - ${gazebo_ros_INCLUDE_DIRS} - ${geometry_msgs_INCLUDE_DIRS} - ${std_msgs_INCLUDE_DIRS} - ${tello_msgs_INCLUDE_DIRS} -) - -#============= -# Tello Gazebo plugin -#============= - -add_library( - TelloPlugin SHARED - src/tello_plugin.cpp -) - -ament_target_dependencies( - TelloPlugin - gazebo_dev - gazebo_ros - geometry_msgs - rclcpp - std_msgs - tello_msgs -) - -#============= -# Install -#============= - -# Install targets -install( - TARGETS TelloPlugin - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) - -## Install world and launch files -install( - DIRECTORY models worlds launch - DESTINATION share/${PROJECT_NAME} -) - -## Install Python scripts -install( - PROGRAMS src/inject_entity.py - DESTINATION lib/${PROJECT_NAME} -) - -#============= -# Run ament macros -#============= - -ament_package() diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/README.md b/CustomRobots/tello_phy/tello_ros/tello_gazebo/README.md deleted file mode 100755 index 32c2007dc..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/README.md +++ /dev/null @@ -1,51 +0,0 @@ -## Running a Tello simulation in [Gazebo](http://gazebosim.org/) - -`tello_gazebo` consists of several components: -* `TelloPlugin` simulates a drone, handling takeoff, landing and very simple flight dynamics -* `markers` contains Gazebo models for fiducial markers -* `fiducial.world` is a simple world with a bunch of fiducial markers -* `inject_entity.py` is a script that will read an URDF (ROS) or SDF (Gazebo) file and spawn a model in a running instance of Gazebo -* the built-in camera plugin is used to emulate the Gazebo forward-facing camera - -#### Python - -Add transformations.py v2018.9.5 to your Python environment. - -#### Install Gazebo v9 - - sudo apt install gazebo11 libgazebo11 libgazebo11-dev - -Run `gazebo` on the command line, fix any problems before continuing. - -#### Additional ROS packages - - sudo apt install ros-foxy-gazebo-ros-pkgs ros-foxy-cv-bridge - -#### Run a teleop simulation - - cd ~/tello_ros_ws - source install/setup.bash - export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models - source /usr/share/gazebo/setup.sh - ros2 launch tello_gazebo simple_launch.py - -You will see a single drone in a blank world. -You can control the drone using the joystick. - -If you run into the **No namespace found** error re-set `GAZEBO_MODEL_PATH`: - - export GAZEBO_MODEL_PATH=${PWD}/install/tello_gazebo/share/tello_gazebo/models - source /usr/share/gazebo/setup.sh - -#### Integrate with `fiducial_vlam` - - cd ~/tello_ros_ws/src - git clone https://github.com/ptrmu/fiducial_vlam.git - cd .. - colcon build --event-handlers console_direct+ - source install/local_setup.bash - ros2 launch tello_gazebo vlam_launch.py - -You'll see 2 drones appear facing a field of ArUco markers. -Both drones will be localized against the markers -- run rviz2 to see the results. -You can only control drone1. \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/include/pid.hpp b/CustomRobots/tello_phy/tello_ros/tello_gazebo/include/pid.hpp deleted file mode 100755 index 1c7081e0a..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/include/pid.hpp +++ /dev/null @@ -1,76 +0,0 @@ -#ifndef PID_H -#define PID_H - -#include - -namespace pid { - -class Controller -{ -private: - - bool angle_; // True if we're controlling an angle [-pi, pi] - double target_ = 0; - double prev_error_ = 0; - double integral_ = 0; - double Kp_; - double Ki_; - double Kd_; - -public: - - // Standard constructor - Controller(bool angle, double Kp, double Ki, double Kd) - { - angle_ = angle; - Kp_ = Kp; - Ki_ = Ki; - Kd_ = Kd; - } - - // Intuitive constructor - Controller(bool angle, double damping_ratio, double natural_frequency) - { - angle_ = angle; - Kp_ = natural_frequency * natural_frequency * (1 + 2 * damping_ratio); - Ki_ = natural_frequency * natural_frequency * natural_frequency; - Kd_ = natural_frequency * (1 + 2 * damping_ratio); - } - - // Set target - void set_target(double target) - { - target_ = target; - prev_error_ = 0; - integral_ = 0; - } - - // Run one calculation - double calc(double state, double dt, double bias) - { - double error = target_ - state; - - if (angle_) - { - // Deal with discontinuity - while (error < -M_PI) - { - error += 2 * M_PI; - } - while (error > M_PI) - { - error -= 2 * M_PI; - } - } - - integral_ = integral_ + (error * dt); - double derivative = (error - prev_error_) / dt; - prev_error_ = error; - - return Kp_ * error + Ki_ * integral_ + Kd_ * derivative + bias; - } -}; - -} // namespace pid - -#endif // PID_H \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/simple_launch.py b/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/simple_launch.py deleted file mode 100755 index adcc13179..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/simple_launch.py +++ /dev/null @@ -1,41 +0,0 @@ -"""Simulate a Tello drone""" - -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import ExecuteProcess - - -def generate_launch_description(): - ns = 'drone1' - world_path = os.path.join(get_package_share_directory('tello_gazebo'), 'worlds', 'simple.world') - urdf_path = os.path.join(get_package_share_directory('tello_description'), 'urdf', 'tello_1.urdf') - - return LaunchDescription([ - # Launch Gazebo, loading tello.world - ExecuteProcess(cmd=[ - 'gazebo', - '--verbose', - '-s', 'libgazebo_ros_init.so', # Publish /clock - '-s', 'libgazebo_ros_factory.so', # Provide gazebo_ros::Node - world_path - ], output='screen'), - - # Spawn tello.urdf - Node(package='tello_gazebo', executable='inject_entity.py', output='screen', - arguments=[urdf_path, '0', '0', '1', '0']), - - # Publish static transforms - Node(package='robot_state_publisher', executable='robot_state_publisher', output='screen', - arguments=[urdf_path]), - - # Joystick driver, generates /namespace/joy messages - Node(package='joy', executable='joy_node', output='screen', - namespace=ns), - - # Joystick controller, generates /namespace/cmd_vel messages - Node(package='tello_driver', executable='tello_joy_main', output='screen', - namespace=ns), - ]) diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/vlam_launch.py b/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/vlam_launch.py deleted file mode 100755 index e1f1c8f0a..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/launch/vlam_launch.py +++ /dev/null @@ -1,71 +0,0 @@ -"""Simulate one or more Tello drones, using ArUco markers and fiducial_vlam for localization""" - -import os - -from ament_index_python.packages import get_package_share_directory -from launch import LaunchDescription -from launch_ros.actions import Node -from launch.actions import ExecuteProcess - - -def generate_launch_description(): - # 1 or more drones: - # drones = ['drone1', 'drone2'] - drones = ['drone1'] - - tello_gazebo_path = get_package_share_directory('tello_gazebo') - tello_description_path = get_package_share_directory('tello_description') - - world_path = os.path.join(tello_gazebo_path, 'worlds', 'fiducial.world') - map_path = os.path.join(tello_gazebo_path, 'worlds', 'fiducial_map.yaml') - - # Global entities - entities = [ - # Launch Gazebo, loading tello.world - ExecuteProcess(cmd=[ - 'gazebo', - '--verbose', - '-s', 'libgazebo_ros_init.so', # Publish /clock - '-s', 'libgazebo_ros_factory.so', # Provide gazebo_ros::Node - world_path - ], output='screen'), - - # Load and publish a known map - Node(package='fiducial_vlam', executable='vmap_main', output='screen', - name='vmap_main', parameters=[{ - 'publish_tfs': 1, # Publish marker /tf - 'marker_length': 0.1778, # Marker length - 'marker_map_load_full_filename': map_path, # Load a pre-built map from disk - 'make_not_use_map': 0}]), # Don't save a map to disk - - # Joystick driver, generates /namespace/joy messages - # Only controls the first drone - Node(package='joy', executable='joy_node', output='screen', - namespace=drones[0]), - - # Joystick controller, generates /namespace/cmd_vel messages - Node(package='tello_driver', executable='tello_joy_main', output='screen', - namespace=drones[0]), - ] - - # Per-drone entities - for idx, namespace in enumerate(drones): - suffix = '_' + str(idx + 1) - urdf_path = os.path.join(tello_description_path, 'urdf', 'tello' + suffix + '.urdf') - - entities.extend([ - # Add a drone to the simulation - Node(package='tello_gazebo', executable='inject_entity.py', output='screen', - arguments=[urdf_path, '0', str(idx), '1', '0']), - - # Localize this drone against the map - Node(package='fiducial_vlam', executable='vloc_main', output='screen', - name='vloc_main', namespace=namespace, parameters=[{ - 'publish_tfs': 1, - 'base_frame_id': 'base_link' + suffix, - 't_camera_base_z': -0.035, - 'camera_frame_id': 'camera_link' + suffix}]), - - ]) - - return LaunchDescription(entities) diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/scripts/marker_0.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/scripts/marker_0.material deleted file mode 100755 index 8c66f3692..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/scripts/marker_0.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker0/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_0.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.png deleted file mode 100755 index b3ad6bee1..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.svg deleted file mode 100755 index 0ab047288..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/materials/textures/aruco_mark_0.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.config deleted file mode 100755 index 13df75fac..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_0 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.sdf deleted file mode 100755 index 698769389..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_0/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/scripts/marker_1.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/scripts/marker_1.material deleted file mode 100755 index 584508526..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/scripts/marker_1.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker1/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_1.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.png deleted file mode 100755 index 03b862772..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.svg deleted file mode 100755 index 67ab91f0c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/materials/textures/aruco_mark_1.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.config deleted file mode 100755 index 3c6655d0c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_1 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.sdf deleted file mode 100755 index 6712f3560..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_1/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/scripts/marker_2.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/scripts/marker_2.material deleted file mode 100755 index 09de9d6a1..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/scripts/marker_2.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker2/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_2.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.png deleted file mode 100755 index ad66df89d..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.svg deleted file mode 100755 index 8232b14fd..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/materials/textures/aruco_mark_2.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.config deleted file mode 100755 index 8a82854be..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_2 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.sdf deleted file mode 100755 index 07cb49954..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_2/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/scripts/marker_3.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/scripts/marker_3.material deleted file mode 100755 index 24dd3d36c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/scripts/marker_3.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker3/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_3.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.png deleted file mode 100755 index e5590cb07..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.svg deleted file mode 100755 index 41b2b8f8c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/materials/textures/aruco_mark_3.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.config deleted file mode 100755 index 9b9294222..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_3 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.sdf deleted file mode 100755 index 31b001261..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_3/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/scripts/marker_4.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/scripts/marker_4.material deleted file mode 100755 index b085e1e79..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/scripts/marker_4.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker4/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_4.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.png deleted file mode 100755 index 8f366018b..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.svg deleted file mode 100755 index ed3f19a67..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/materials/textures/aruco_mark_4.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.config deleted file mode 100755 index 0fb9b0b73..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_4 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.sdf deleted file mode 100755 index 417f51ba3..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_4/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/scripts/marker_5.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/scripts/marker_5.material deleted file mode 100755 index fe01f31d7..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/scripts/marker_5.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker5/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_5.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.png deleted file mode 100755 index 955b7730f..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.svg deleted file mode 100755 index f33b2b47f..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/materials/textures/aruco_mark_5.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.config deleted file mode 100755 index 10ff1cb7c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_5 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.sdf deleted file mode 100755 index 81fbceb3e..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_5/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/scripts/marker_6.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/scripts/marker_6.material deleted file mode 100755 index 71b8c068f..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/scripts/marker_6.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker6/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_6.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.png deleted file mode 100755 index b412cb2e9..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.svg deleted file mode 100755 index 2e5bc9141..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/materials/textures/aruco_mark_6.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.config deleted file mode 100755 index 26c6be5db..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_6 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.sdf deleted file mode 100755 index 2cb90b508..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_6/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/scripts/marker_7.material b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/scripts/marker_7.material deleted file mode 100755 index 267893c31..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/scripts/marker_7.material +++ /dev/null @@ -1,13 +0,0 @@ -material ArucoVisualMarker7/Marker -{ - technique - { - pass - { - texture_unit - { - texture aruco_mark_7.png - } - } - } -} diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.png b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.png deleted file mode 100755 index 9bc200a13..000000000 Binary files a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.png and /dev/null differ diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.svg b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.svg deleted file mode 100755 index fbd09f80c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/materials/textures/aruco_mark_7.svg +++ /dev/null @@ -1 +0,0 @@ - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.config b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.config deleted file mode 100755 index a33de8936..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - marker_7 - 1.0 - model.sdf - - - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.sdf b/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.sdf deleted file mode 100755 index 8c046e96b..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/models/marker_7/model.sdf +++ /dev/null @@ -1,97 +0,0 @@ - - - - - - 0 0 0 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - - 1 1 1 1 - 1 1 1 1 - 0 0 0 1 - 1 1 1 0 - - __default__ - - - 0 0 0 0 0 0 - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-05 - - - - - - - 0 0 -1e-3 0 0 0 - - - - 0.1778 0.1778 1e-5 - - - - 1 - - 0.3 0.3 0.3 1 - 0.7 0.7 0.7 1 - 0.01 0.01 0.01 1 - 1 1 1 0 - - __default__ - - - 1 - 0 - - - 0 - 10 - 0 0 0 0 0 0 - - - 0.1778 0.1778 1e-5 - - - - - - - marker - marker_pad - 0 0 0 0 0 0 - - 0 0 1 - - 0 - 0 - - - - - 1 - 1 - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/package.xml b/CustomRobots/tello_phy/tello_ros/tello_gazebo/package.xml deleted file mode 100755 index a9888699e..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/package.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - - tello_gazebo - 0.1.0 - Tello Gazebo plugin - - Clyde McQueen - BSD - - https://github.com/clydemcqueen/tello_ros.git - https://github.com/clydemcqueen/tello_ros/issues - - Clyde McQueen - Peter Mullen - - ament_cmake - - gazebo - gazebo_ros - geometry_msgs - rclcpp - std_msgs - tello_msgs - - gazebo_ros_pkgs - - - ament_cmake - - - - diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_rc.bash b/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_rc.bash deleted file mode 100755 index 0e0bdaaec..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_rc.bash +++ /dev/null @@ -1,26 +0,0 @@ -# An example of how to control 2 drones using the ros2 CLI -# Uses "rc x y z yaw" to control velocity -# Do _not_ launch the joystick nodes - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" -sleep 8 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'rc -0.2 0 0 0'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'rc -0.2 0 0 0'}" -sleep 2 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 0'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 0'}" -sleep 1 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'rc 0.2 0 0 0'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'rc 0.2 0 0 0'}" -sleep 2 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 0'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'rc 0 0 0 0'}" -sleep 1 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'land'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'land'}" diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_twist.bash b/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_twist.bash deleted file mode 100755 index dc326401b..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/scripts/two_drones_twist.bash +++ /dev/null @@ -1,26 +0,0 @@ -# An example of how to control 2 drones using the ros2 CLI -# Uses /cmd_vel to control velocity -# Do _not_ launch the joystick nodes - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'takeoff'}" -sleep 8 - -ros2 topic pub --once /drone1/cmd_vel geometry_msgs/Twist "{linear: {x: -0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -ros2 topic pub --once /drone2/cmd_vel geometry_msgs/Twist "{linear: {x: -0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -sleep 1 - -ros2 topic pub --once /drone1/cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -ros2 topic pub --once /drone2/cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -sleep 1 - -ros2 topic pub --once /drone1/cmd_vel geometry_msgs/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -ros2 topic pub --once /drone2/cmd_vel geometry_msgs/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -sleep 1 - -ros2 topic pub --once /drone1/cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -ros2 topic pub --once /drone2/cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}" -sleep 1 - -ros2 service call /drone1/tello_action tello_msgs/TelloAction "{cmd: 'land'}" -ros2 service call /drone2/tello_action tello_msgs/TelloAction "{cmd: 'land'}" diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/inject_entity.py b/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/inject_entity.py deleted file mode 100755 index cfaa1efa6..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/inject_entity.py +++ /dev/null @@ -1,55 +0,0 @@ -#!/usr/bin/env python3 - -"""Inject an SDF or URDF file into Gazebo""" - -import sys - -import rclpy -import transformations -from gazebo_msgs.srv import SpawnEntity -from geometry_msgs.msg import Pose - - -def inject(xml: str, initial_pose: Pose): - """Create a ROS node, and use it to call the SpawnEntity service""" - - rclpy.init() - node = rclpy.create_node('inject_node') - client = node.create_client(SpawnEntity, 'spawn_entity') - - if not client.service_is_ready(): - node.get_logger().info('waiting for spawn_entity service...') - client.wait_for_service() - - request = SpawnEntity.Request() - request.xml = xml - request.initial_pose = initial_pose - future = client.call_async(request) - rclpy.spin_until_future_complete(node, future) - - if future.result() is not None: - node.get_logger().info('response: %r' % future.result()) - else: - raise RuntimeError('exception while calling service: %r' % future.exception()) - - node.destroy_node() - rclpy.shutdown() - - -if len(sys.argv) < 6: - print('usage: ros2 run tello_gazebo inject_entity.py -- foo.urdf initial_x initial_y initial_z initial_yaw') - sys.exit(1) - -f = open(sys.argv[1], 'r') - -p = Pose() -p.position.x = float(sys.argv[2]) -p.position.y = float(sys.argv[3]) -p.position.z = float(sys.argv[4]) -q = transformations.quaternion_from_euler(0, 0, float(sys.argv[5])) -p.orientation.w = q[0] -p.orientation.x = q[1] -p.orientation.y = q[2] -p.orientation.z = q[3] - -inject(f.read(), p) diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/tello_plugin.cpp b/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/tello_plugin.cpp deleted file mode 100755 index 0a517654e..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/src/tello_plugin.cpp +++ /dev/null @@ -1,399 +0,0 @@ -#include - -#include "gazebo/gazebo.hh" -#include "gazebo/physics/physics.hh" - -#include "gazebo_ros/node.hpp" -#include "geometry_msgs/msg/twist.hpp" -#include "tello_msgs/msg/flight_data.hpp" -#include "tello_msgs/msg/tello_response.hpp" -#include "tello_msgs/srv/tello_action.hpp" - -#include "pid.hpp" - -using namespace std::chrono_literals; - -//=============================================================================================== -// TelloPlugin features: -// -- generates trivial flight data at 10Hz -// -- video is managed by a gazebo_ros_pkgs plugin, see tello_description/urdf/tello.xml -// -- responds to "takeoff" and "land" commands -// -- responds to cmd_vel and "rc x y z yaw" commands -// -- battery state -// -// Tello flight dynamics are sophisticated and difficult to model. TelloPlugin keeps it simple: -// -- x, y, z and yaw velocities are controlled by a P controller -// -- roll and pitch are always 0 -// -// Possible extensions: -// -- simulate network latency -// -- add some randomness to the flight dynamics -// -- improve battery simulation -//=============================================================================================== - -namespace tello_gazebo -{ - - const double MAX_XY_V = 8.0; - const double MAX_Z_V = 4.0; - const double MAX_ANG_V = M_PI; - - const double MAX_XY_A = 8.0; - const double MAX_Z_A = 4.0; - const double MAX_ANG_A = M_PI; - - const double TAKEOFF_Z = 1.0; // Takeoff target z position - const double TAKEOFF_Z_V = 0.5; // Takeoff target z velocity - - const double LAND_Z = 0.1; // Land target z position - const double LAND_Z_V = -0.5; // Land target z velocity - - const int BATTERY_DURATION = 6000; // Battery duration in seconds - - inline double clamp(const double v, const double max) - { - return v > max ? max : (v < -max ? -max : v); - } - - class TelloPlugin : public gazebo::ModelPlugin - { - enum class FlightState - { - landed, - taking_off, - flying, - landing, - dead_battery, - }; - - std::map state_strs_{ - {FlightState::landed, "landed"}, - {FlightState::taking_off, "taking_off"}, - {FlightState::flying, "flying"}, - {FlightState::landing, "landing"}, - {FlightState::dead_battery, "dead_battery"}, - }; - - FlightState flight_state_; - - gazebo::physics::LinkPtr base_link_; - ignition::math::Vector3d gravity_; - ignition::math::Vector3d center_of_mass_{0, 0, 0}; - int battery_duration_{BATTERY_DURATION}; - - // Connection to Gazebo message bus - gazebo::event::ConnectionPtr update_connection_; - - // GazeboROS node - gazebo_ros::Node::SharedPtr node_; - - // ROS publishers - rclcpp::Publisher::SharedPtr flight_data_pub_; - rclcpp::Publisher::SharedPtr tello_response_pub_; - - // ROS services - rclcpp::Service::SharedPtr command_srv_; - - // ROS subscriptions - rclcpp::Subscription::SharedPtr cmd_vel_sub_; - - // Sim time of last update - gazebo::common::Time update_time_; - - // 10Hz timer - gazebo::common::Time ten_hz_time_; - - // cmd_vel messages control x, y, z and yaw velocity - pid::Controller x_controller_{false, 2, 0, 0}; - pid::Controller y_controller_{false, 2, 0, 0}; - pid::Controller z_controller_{false, 2, 0, 0}; - pid::Controller yaw_controller_{false, 2, 0, 0}; - - public: - - TelloPlugin() - { - (void) update_connection_; - (void) command_srv_; - (void) cmd_vel_sub_; - - transition(FlightState::landed); - } - - ~TelloPlugin() - { - } - - void set_target_velocities(double x, double y, double z, double yaw) - { - x_controller_.set_target(x); - y_controller_.set_target(y); - z_controller_.set_target(z); - yaw_controller_.set_target(yaw); - } - - // Respond to a command of the form "rc x y z yaw" - void set_target_velocities(std::string rc_command) - { - double x, y, z, yaw; - - try { - std::istringstream iss(rc_command, std::istringstream::in); - std::string s; - iss >> s; // "rc" - iss >> s; - x = std::stof(s); - iss >> s; - y = std::stof(s); - iss >> s; - z = std::stof(s); - iss >> s; - yaw = std::stof(s); - } catch (std::exception e) { - RCLCPP_ERROR(node_->get_logger(), "can't parse rc command '%s', exception %s", rc_command.c_str(), e.what()); - return; - } - - set_target_velocities( - x * MAX_XY_V, - y * MAX_XY_V, - z * MAX_Z_V, - yaw * MAX_ANG_V); - } - - void transition(FlightState next) - { - if (node_ != nullptr) { - RCLCPP_INFO(node_->get_logger(), "transition from '%s' to '%s'", state_strs_[flight_state_], state_strs_[next]); - } - - flight_state_ = next; - - switch (flight_state_) { - case FlightState::landed: - case FlightState::flying: - case FlightState::dead_battery: - set_target_velocities(0, 0, 0, 0); - break; - - case FlightState::taking_off: - set_target_velocities(0, 0, TAKEOFF_Z_V, 0); - break; - - case FlightState::landing: - set_target_velocities(0, 0, LAND_Z_V, 0); - break; - } - } - - // Called once when the plugin is loaded. - void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) - { - GZ_ASSERT(model != nullptr, "Model is null"); - GZ_ASSERT(sdf != nullptr, "SDF is null"); - - std::string link_name{"base_link"}; - - // In theory we can move much of this config into the tag, perhaps it's finished in Eloquent? - if (sdf->HasElement("link_name")) { - link_name = sdf->GetElement("link_name")->Get(); - } - if (sdf->HasElement("center_of_mass")) { - center_of_mass_ = sdf->GetElement("center_of_mass")->Get(); - } - if (sdf->HasElement("battery_duration")) { - battery_duration_ = sdf->GetElement("center_of_mass")->Get(); - } - - base_link_ = model->GetLink(link_name); - GZ_ASSERT(base_link_ != nullptr, "Missing link"); - gravity_ = model->GetWorld()->Gravity(); - - std::cout << std::fixed; - std::setprecision(2); - std::cout << std::endl; - std::cout << "TELLO PLUGIN" << std::endl; - std::cout << "-----------------------------------------" << std::endl; - std::cout << "link_name: " << link_name << std::endl; - std::cout << "center_of_mass: " << center_of_mass_ << std::endl; - std::cout << "gravity: " << gravity_ << std::endl; - std::cout << "battery_duration: " << battery_duration_ << std::endl; - std::cout << "-----------------------------------------" << std::endl; - std::cout << std::endl; - - // ROS node - node_ = gazebo_ros::Node::Get(sdf); - - // Fix by adding 1 to the SDF file - bool use_sim_time; - node_->get_parameter("use_sim_time", use_sim_time); - if (!use_sim_time) { - RCLCPP_ERROR(node_->get_logger(), "use_sim_time is false, could be a bug"); - } - - // ROS publishers - flight_data_pub_ = node_->create_publisher("flight_data", 1); - tello_response_pub_ = node_->create_publisher("tello_response", 1); - - // ROS service - command_srv_ = node_->create_service("tello_action", - std::bind(&TelloPlugin::command_callback, this, - std::placeholders::_1, - std::placeholders::_2, - std::placeholders::_3)); - - // ROS subscription - cmd_vel_sub_ = node_->create_subscription("cmd_vel", 10, - std::bind(&TelloPlugin::cmd_vel_callback, - this, std::placeholders::_1)); - - // Listen for the Gazebo update event. This event is broadcast every simulation iteration. - update_connection_ = gazebo::event::Events::ConnectWorldUpdateBegin( - boost::bind(&TelloPlugin::OnUpdate, this, _1)); - } - - // Called by the world update start event, up to 1000 times per second. - void OnUpdate(const gazebo::common::UpdateInfo &info) - { - // Do nothing if the battery is dead - if (flight_state_ == FlightState::dead_battery) { - return; - } - - // 10Hz timer - if ((info.simTime - ten_hz_time_).Double() > 0.1) { - spin_10Hz(); - ten_hz_time_ = info.simTime; - } - - // dt - double dt = (info.simTime - update_time_).Double(); - update_time_ = info.simTime; - - // Don't apply force if we're landed - if (flight_state_ != FlightState::landed) { - // Get current velocity - ignition::math::Vector3d linear_velocity = base_link_->RelativeLinearVel(); - ignition::math::Vector3d angular_velocity = base_link_->RelativeAngularVel(); - - // Calc desired acceleration (ubar) - ignition::math::Vector3d lin_ubar, ang_ubar; - lin_ubar.X(x_controller_.calc(linear_velocity.X(), dt, 0)); - lin_ubar.Y(y_controller_.calc(linear_velocity.Y(), dt, 0)); - lin_ubar.Z(z_controller_.calc(linear_velocity.Z(), dt, 0)); - ang_ubar.Z(yaw_controller_.calc(angular_velocity.Z(), dt, 0)); - - // Clamp acceleration - lin_ubar.X() = clamp(lin_ubar.X(), MAX_XY_A); - lin_ubar.Y() = clamp(lin_ubar.Y(), MAX_XY_A); - lin_ubar.Z() = clamp(lin_ubar.Z(), MAX_Z_A); - ang_ubar.Z() = clamp(ang_ubar.Z(), MAX_ANG_A); - - // Compensate for gravity - lin_ubar -= gravity_; - - // Calc force and torque - ignition::math::Vector3d force = lin_ubar * base_link_->GetInertial()->Mass(); - ignition::math::Vector3d torque = ang_ubar * base_link_->GetInertial()->MOI(); - - // Set roll and pitch to 0 - ignition::math::Pose3d pose = base_link_->WorldPose(); - pose.Rot().X(0); - pose.Rot().Y(0); - base_link_->SetWorldPose(pose); - - // Apply force and torque - base_link_->AddLinkForce(force, center_of_mass_); - base_link_->AddRelativeTorque(torque); // ODE adds torque at the center of mass - } - } - - bool is_prefix(const std::string &prefix, const std::string &str) - { - return std::equal(prefix.begin(), prefix.end(), str.begin()); - } - -#pragma clang diagnostic push -#pragma ide diagnostic ignored "UnusedValue" - - void command_callback( - const std::shared_ptr request_header, - const std::shared_ptr request, - std::shared_ptr response) - { - if (request->cmd == "takeoff" && flight_state_ == FlightState::landed) { - transition(FlightState::taking_off); - response->rc = response->OK; - } else if (request->cmd == "land" && flight_state_ == FlightState::flying) { - transition(FlightState::landing); - response->rc = response->OK; - } else if (is_prefix("rc", request->cmd) && flight_state_ == FlightState::flying) { - set_target_velocities(request->cmd); - response->rc = response->OK; - } else { - RCLCPP_WARN(node_->get_logger(), "ignoring command '%s'", request->cmd.c_str()); - response->rc = response->ERROR_BUSY; - } - } - -#pragma clang diagnostic pop - - void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg) - { - if (flight_state_ == FlightState::flying) { - // TODO cmd_vel should specify velocity, not joystick position - set_target_velocities( - msg->linear.x * MAX_XY_V, - msg->linear.y * MAX_XY_V, - msg->linear.z * MAX_Z_V, - msg->angular.z * MAX_ANG_V); - } - } - - void respond_ok() - { - tello_msgs::msg::TelloResponse msg; - msg.rc = msg.OK; - msg.str = "ok"; - tello_response_pub_->publish(msg); - } - - void spin_10Hz() - { - rclcpp::Time ros_time = node_->now(); - - // Wait for ROS time to get reasonable TODO sometimes this never happens - if (ros_time.seconds() < 1.0) { - return; - } - - // Simulate a battery - int battery_percent = static_cast((battery_duration_ - ros_time.seconds()) / battery_duration_ * 100); - if (battery_percent <= 0) { - // We're dead - transition(FlightState::dead_battery); - return; - } - - // Publish flight data - tello_msgs::msg::FlightData flight_data; - flight_data.header.stamp = ros_time; - flight_data.sdk = flight_data.SDK_1_3; - flight_data.bat = battery_percent; - flight_data_pub_->publish(flight_data); - - // Finish pending actions - ignition::math::Pose3d pose = base_link_->WorldPose(); - if (flight_state_ == FlightState::taking_off && pose.Pos().Z() > TAKEOFF_Z) { - transition(FlightState::flying); - respond_ok(); - } else if (flight_state_ == FlightState::landing && pose.Pos().Z() < LAND_Z) { - transition(FlightState::landed); - respond_ok(); - } - } - }; - - GZ_REGISTER_MODEL_PLUGIN(TelloPlugin) - -} // namespace tello_gazebo diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/build_world.py b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/build_world.py deleted file mode 100755 index e1ac5bb3f..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/build_world.py +++ /dev/null @@ -1,123 +0,0 @@ -#!/usr/bin/env python - -""" -Build Gazebo world and fiducial_vlam map files from a list of markers and poses -Usage: - cd src/tello_ros/tello_gazebo/worlds - build_world.py - -Marker format: [marker_num, x, y, z, roll, pitch, yaw] - -Transformation notation: - t_destination_source is a transform - vector_destination = t_destination_source * vector_source - xxx_f_destination means xxx is expressed in destination frame - xxx_pose_f_destination is equivalent to t_destination_xxx - t_a_c = t_a_b * t_b_c - -Also: - r_destination_source is a fixed axis rotation per https://www.ros.org/reps/rep-0103.html -""" - -import math -import transformations as xf - -pi = math.pi -pi2 = math.pi / 2 - -# SDF and fiducial_vlam have different coordinate models -t_world_map = xf.quaternion_matrix([math.sqrt(0.5), 0, 0, -math.sqrt(0.5)]) - - -def build_world(name, markers): - world_file = open(name, 'w') - world_file.write(""" - - - - - - - 1000 - 0.001 - - - - - model://ground_plane - - - - - model://sun - - - -""") - for marker in markers: - world_file.write(f""" - - true - model://marker_{marker[0]} - - {marker[1]} {marker[2]} {marker[3]} {marker[4]} {marker[5]} {marker[6]} - -""") - world_file.write(""" - -""") - world_file.close() - - -def build_map(name, markers): - map_file = open(name, 'w') - map_file.write("""# Map for orca.world -# All marker locations are fixed (f: 1) - -marker_length: 0.1778 -markers: -""") - for marker in markers: - t_marker_world = xf.euler_matrix(marker[4], marker[5], marker[6]) - t_marker_map = t_marker_world @ t_world_map - r_marker_map = xf.euler_from_matrix(t_marker_map) - - map_file.write(f""" - id: {marker[0]} - u: 1 - f: 1 - xyz: [{marker[1]}, {marker[2]}, {marker[3]}] - rpy: [{r_marker_map[0]}, {r_marker_map[1]}, {r_marker_map[2]}] -""") - map_file.close() - - -fiducial = [ - [0, 2, 0, 0.5, 0, -pi2, 0], - [1, 2, 1, 0.5, 0, -pi2, 0], - [2, 2, 2, 0.5, 0, -pi2, 0], - [3, 2, 3, 0.5, 0, -pi2, 0], - [4, 2, 0, 1.5, 0, -pi2, 0], - [5, 2, 1, 1.5, 0, -pi2, 0], - [6, 2, 2, 1.5, 0, -pi2, 0], - [7, 2, 3, 1.5, 0, -pi2, 0], -] - -f2 = [ - [0, 0.5, 1, 1, 0, -pi2, 0], - [1, 0.5, 2, 1, 0, -pi2, 0], - [2, -1, -0.5, 1, 0, -pi2, -pi2], - [3, -2, -0.5, 1, 0, -pi2, -pi2], - [4, -1, 3.5, 1, 0, -pi2, pi2], - [5, -2, 3.5, 1, 0, -pi2, pi2], - [6, -3.5, 2, 1, 0, -pi2, pi], - [7, -3.5, 1, 1, 0, -pi2, pi], -] - -worlds = [ - ['fiducial.world', 'fiducial_map.yaml', fiducial], - ['f2.world', 'f2_map.yaml', f2], -] - -for world in worlds: - build_world(world[0], world[2]) - build_map(world[1], world[2]) diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2.world b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2.world deleted file mode 100755 index b92ffcfa8..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2.world +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - 1000 - 0.001 - - - - - model://ground_plane - - - - - model://sun - - - - - - true - model://marker_0 - - 0.5 1 1 0 -1.5707963267948966 0 - - - - true - model://marker_1 - - 0.5 2 1 0 -1.5707963267948966 0 - - - - true - model://marker_2 - - -1 -0.5 1 0 -1.5707963267948966 -1.5707963267948966 - - - - true - model://marker_3 - - -2 -0.5 1 0 -1.5707963267948966 -1.5707963267948966 - - - - true - model://marker_4 - - -1 3.5 1 0 -1.5707963267948966 1.5707963267948966 - - - - true - model://marker_5 - - -2 3.5 1 0 -1.5707963267948966 1.5707963267948966 - - - - true - model://marker_6 - - -3.5 2 1 0 -1.5707963267948966 3.141592653589793 - - - - true - model://marker_7 - - -3.5 1 1 0 -1.5707963267948966 3.141592653589793 - - - - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2_map.yaml b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2_map.yaml deleted file mode 100755 index eb16ffbcb..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/f2_map.yaml +++ /dev/null @@ -1,45 +0,0 @@ -# Map for orca.world -# All marker locations are fixed (f: 1) - -marker_length: 0.1778 -markers: - - id: 0 - u: 1 - f: 1 - xyz: [0.5, 1, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 1 - u: 1 - f: 1 - xyz: [0.5, 2, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 2 - u: 1 - f: 1 - xyz: [-1, -0.5, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -3.141592653589793] - - id: 3 - u: 1 - f: 1 - xyz: [-2, -0.5, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -3.141592653589793] - - id: 4 - u: 1 - f: 1 - xyz: [-1, 3.5, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -6.123233995736767e-17] - - id: 5 - u: 1 - f: 1 - xyz: [-2, 3.5, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -6.123233995736767e-17] - - id: 6 - u: 1 - f: 1 - xyz: [-3.5, 2, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, 1.5707963267948966] - - id: 7 - u: 1 - f: 1 - xyz: [-3.5, 1, 1] - rpy: [1.5707963267948966, 2.2204460492503126e-16, 1.5707963267948966] diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial.world b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial.world deleted file mode 100755 index af6ec01fb..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial.world +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - 1000 - 0.001 - - - - - model://ground_plane - - - - - model://sun - - - - - - true - model://marker_0 - - 2 0 0.5 0 -1.5707963267948966 0 - - - - true - model://marker_1 - - 2 1 0.5 0 -1.5707963267948966 0 - - - - true - model://marker_2 - - 2 2 0.5 0 -1.5707963267948966 0 - - - - true - model://marker_3 - - 2 3 0.5 0 -1.5707963267948966 0 - - - - true - model://marker_4 - - 2 0 1.5 0 -1.5707963267948966 0 - - - - true - model://marker_5 - - 2 1 1.5 0 -1.5707963267948966 0 - - - - true - model://marker_6 - - 2 2 1.5 0 -1.5707963267948966 0 - - - - true - model://marker_7 - - 2 3 1.5 0 -1.5707963267948966 0 - - - - \ No newline at end of file diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial_map.yaml b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial_map.yaml deleted file mode 100755 index 0803bf0e3..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/fiducial_map.yaml +++ /dev/null @@ -1,45 +0,0 @@ -# Map for orca.world -# All marker locations are fixed (f: 1) - -marker_length: 0.1778 -markers: - - id: 0 - u: 1 - f: 1 - xyz: [2, 0, 0.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 1 - u: 1 - f: 1 - xyz: [2, 1, 0.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 2 - u: 1 - f: 1 - xyz: [2, 2, 0.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 3 - u: 1 - f: 1 - xyz: [2, 3, 0.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 4 - u: 1 - f: 1 - xyz: [2, 0, 1.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 5 - u: 1 - f: 1 - xyz: [2, 1, 1.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 6 - u: 1 - f: 1 - xyz: [2, 2, 1.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] - - id: 7 - u: 1 - f: 1 - xyz: [2, 3, 1.5] - rpy: [1.5707963267948966, 2.2204460492503126e-16, -1.5707963267948966] diff --git a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/simple.world b/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/simple.world deleted file mode 100755 index 72979af6c..000000000 --- a/CustomRobots/tello_phy/tello_ros/tello_gazebo/worlds/simple.world +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - 1000 - 0.001 - - - - - model://ground_plane - - - - - model://sun - - - - \ No newline at end of file diff --git a/scripts/run.sh b/scripts/run.sh index 01c690966..54f535ab4 100755 --- a/scripts/run.sh +++ b/scripts/run.sh @@ -61,7 +61,7 @@ if [ -z $name ]; then fi if $volume && [ ! -z $path ] && [ -d $path ] ; then - docker run --name $name $device -e DRI_NAME=$device_name -v $path:/home/shared_dir --rm -it $serverport -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server + docker run --name $name $device -e DRI_NAME=$device_name -v $path:/home/shared_dir --rm -it $serverport -p 8889:8889/udp -p 38065:38065/udp -p 8890:8890/udp -p 11111:11111/udp -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server else - docker run --name $name $device -e DRI_NAME=$device_name --rm -it $serverport -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server + docker run --name $name $device -e DRI_NAME=$device_name --rm -it $serverport -p 8889:8889/udp -p 38065:38065/udp -p 8890:8890/udp -p 11111:11111/udp -p 2303:2303 -p 1905:1905 -p 8765:8765 -p 6080:6080 -p 6081:6081 -p 1108:1108 -p 6082:6082 -p 7163:7163 jderobot/robotics-academy:$tag $debug $logs $server fi \ No newline at end of file