uvcom.yml

name: simulation
root: ./
startup_window: state_estimator
pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export ODOMETRY_TYPE=gps; export UAV_TYPE=f450; export WORLD_NAME=simulation_local; export SENSORS="garmin_down"
windows:
  - roscore:
      layout: tiled
      panes:
        - roscore
  - gazebo:
      layout: tiled
      panes:
        - waitForRos; roslaunch uvdar_core uvdar_gazebo.launch gui:=true
        - waitForOdometry; gz camera -c gzclient_camera -f uav1; history -s gz camera -c gzclient_camera -f uav1
  - status:
      layout: tiled
      panes:
        - export UAV_NAME=uav1; waitForRos; roslaunch mrs_uav_status status.launch
        - export UAV_NAME=uav2; waitForRos; roslaunch mrs_uav_status status.launch
  - spawn:
      layout: tiled
      panes:
        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --pos -19 15 0.5 3.14 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 0 --uvled_s_r 0"
        - waitForGazebo; sleep 1; rosservice call /mrs_drone_spawner/spawn "2 $UAV_TYPE --pos -27 15 0.5 0.0 --enable-ground-truth --enable-rangefinder --enable-dual-uv-cameras --uvcam_calib_file \"$(rospack find uvdar_core)/include/OCamCalib/config/calib_results_bf_uv_fe.txt\" --enable-uv-leds --uvled_s_l 1 --uvled_s_r 1"
  - control:
      layout: tiled
      panes:
        - export UAV_NAME=uav1; waitForOdometry; sleep 1; roslaunch mrs_uav_general core.launch 
        - export UAV_NAME=uav2; waitForOdometry; sleep 1; roslaunch mrs_uav_general core.launch 
  - autostart:
      layout: even-vertical
      panes:
        - export UAV_NAME=uav1; waitForGazebo; sleep 1; roslaunch mrs_uav_general automatic_start.launch
        - export UAV_NAME=uav2; waitForGazebo; sleep 1; roslaunch mrs_uav_general automatic_start.launch
  - takeoff:
      layout: tiled
      panes:
        - 'export UAV_NAME=uav1;
          waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 0.1;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
        - 'export UAV_NAME=uav2;
          waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 0.1;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
  - uv_observer:
      layout: even-vertical
      panes:
        - waitForCompile; gz world --pause=0; sleep 6;  export UAV_NAME=uav1; waitForControl; roslaunch uvdar_core sim_two_sided_com.launch
        - waitForCompile; gz world --pause=0; sleep 6;  export UAV_NAME=uav2; waitForControl; roslaunch uvdar_core sim_two_sided_com.launch
  - kalman_filter:
      layout: even-vertical
      panes:
        - export UAV_NAME=uav1; waitForControl; roslaunch uvdar_core uvdar_kalman.launch output_frame:=$UAV_NAME/stable_origin
        - export UAV_NAME=uav2; waitForControl; roslaunch uvdar_core uvdar_kalman.launch output_frame:=$UAV_NAME/stable_origin
  - swarm_rx:
      layout: even-vertical
      panes:
        - export UAV_NAME=uav1; export UAV_ID=0; waitForControl; sleep 8; roslaunch uvdar_core uvdar_rx.launch
        - export UAV_NAME=uav2; export UAV_ID=1; waitForControl; sleep 8; roslaunch uvdar_core uvdar_rx.launch
  - swarm_tx:
      layout: even-vertical
      panes:
        - export UAV_NAME=uav1; export UAV_ID=0; waitForControl; sleep 5; roslaunch uvdar_core uvdar_tx.launch
        - export UAV_NAME=uav2; export UAV_ID=1; waitForControl; sleep 5; roslaunch uvdar_core uvdar_tx.launch
  - led_manager:
      layout: even-vertical
      panes:
        - export UAV_NAME=uav1; waitForControl; sleep 1; roslaunch uvdar_core led_manager.launch
        - export UAV_NAME=uav2; waitForControl; sleep 1; roslaunch uvdar_core led_manager.launch
  - rviz:
      layout: tiled
      panes:
        - export UAV_NAME=uav1; waitForControl; rosrun rviz rviz -d ./des.rviz
        - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
  - slow_down:
      layout: even-vertical
      panes:
        - waitForGazebo; waitForRos; sleep 25; gz physics -u 25
        - waitForGazebo; waitForRos; sleep 40; gz physics -u 25
        - waitForGazebo; waitForRos; sleep 55; gz physics -u 25
  - layout:
      layout: tiled
      panes:
        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json