added example tmux

tmux/config/custom_config.yaml

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+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    # available in mrs_uav_state_estimators: gps_garmin, gps_baro, rtk, aloam, ground_truth, dummy
+    state_estimators: [
+    "gps_garmin",
+    "gps_baro",
+    # "rtk",
+    # "aloam",
+    # "ground_truth",
+    # "dummy"
+    ]
+
+    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
+
+  control_manager:
+
+    obstacle_bumper:
+
+      enabled: true
+
+      switch_tracker: true
+      tracker: "MpcTracker"
+
+      switch_controller: true
+      controller: "Se3Controller"
+
+      horizontal:
+        threshold_distance: 2.5 # [m]
+
+      vertical:
+        threshold_distance: 1.5 # [m]
+
+  uav_manager:
+
+    takeoff:
+      after_takeoff:
+        controller: Se3Controller
+
+  constraint_manager:
+
+    default_constraints:
+      gps_garmin: "slow"
+      gps_baro: "slow"

tmux/config/m690.yaml

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+uav_mass: 4.65
+
+motor_params:
+  n_motors: 4
+  a:  0.18452
+  b: -0.15
+
+# these model parameters can be used when
+# - 'control group', and/or
+# - 'actuator control'
+# are accepted by the HW API.
+model_params:
+
+  arm_length: 0.345 # [m]
+  body_height: 0.20 # [m]
+
+  propulsion:
+
+    # force [N] = force_constant * rpm^2
+    force_constant: 0.0000010312
+
+    # torque [Nm] = torque_constant * force [N]
+    torque_constant: 0.07
+
+    prop_radius: 0.2286 # [m]
+
+    # allocation motors -> torques
+
+    # quadrotor X configuration
+    # [roll torque,      [            [RPM_1^2,
+    #  pitch torque,  =    Alloc    *  RPM_2^2,
+    #  yaw torque,         Matrix       ...
+    #  thrust force]              ]    RPM_n_motors^2]
+    allocation_matrix: [
+      -0.707, 0.707, 0.707,  -0.707, # *= force_constant*arm_length
+      -0.707, 0.707, -0.707, 0.707,  # *= force_constant*arm_length
+      -1,     -1,    1,      1,      # *= torque_constant*force_constant
+      1,      1,     1,      1,      # *= force_constant
+    ]
+
+    # The UAV's inertia is approximated as a cilinder using the parameters above
+    # Alternatively, you can provide inertia matrix directly using the following parameter:
+    # inertia_matrix: []
+
+    rpm:
+      min: 801.55 # [revolutions/minute]
+      max: 5337.0 # [revolutions/minute]
+
+mrs_uav_managers:
+
+  constraint_manager:
+
+    default_constraints:
+      gps_garmin: "medium"
+      gps_baro: "medium"
+      rtk: "medium"
+      aloam: "slow"
+      hector_garmin: "slow"
+      vio: "slow"
+      optflow: "slow"
+      other: "slow"
+      ground_truth: "medium"

tmux/config/network_config.yaml

@@ -0,0 +1,17 @@
+# 1. This list is used by NimbroNetwork for mutual communication of the UAVs
+#    The names of the robots have to match hostnames described in /etc/hosts.
+#
+# 2. This list is used by MpcTracker for mutual collision avoidance of the UAVs.
+#    The names should match the true "UAV_NAMES" (the topic prefixes).
+#
+#     network_config:=~/config/network_config.yaml
+#
+#    to the core.launch and nimbro.launch.
+
+network:
+
+  robot_names: [
+
+    uav1,
+
+  ]

tmux/config/world_config.yaml

@@ -0,0 +1,34 @@
+world_origin:
+
+  units: "LATLON" # {"UTM, "LATLON"}
+
+  origin_x: 47.397743
+  origin_y: 8.545594
+
+safety_area:
+
+  enabled: true
+
+  horizontal:
+
+    # the frame of reference in which the points are expressed
+    frame_name: "world_origin"
+
+    # polygon
+    #
+    # x, y [m] for any frame_name except latlon_origin
+    # x = latitude, y = longitude [deg]  for frame_name=="latlon_origin"
+    points: [
+      -50, -50,
+      50,  -50,
+      50,  50,
+      -50, 50
+    ]
+
+  vertical:
+
+    # the frame of reference in which the max&min z is expressed
+    frame_name: "world_origin"
+
+    max_z: 15.0
+    min_z: 0.5

tmux/layout.json

@@ -0,0 +1,105 @@
+[
+	{
+		"border": "normal",
+		"floating": "auto_off",
+		"fullscreen_mode": 0,
+		"layout": "splitv",
+		"percent": 0.5,
+		"type": "con",
+		"nodes": [
+			{
+				"border": "normal",
+				"floating": "auto_off",
+				"layout": "splith",
+				"percent": 0.74,
+				"type": "con",
+				"nodes": [
+					{
+						"border": "normal",
+						"floating": "auto_off",
+						"layout": "splith",
+						"percent": 1,
+						"type": "con",
+						"nodes": [
+							{
+								"border": "normal",
+								"floating": "auto_off",
+								"layout": "splitv",
+								"percent": 0.5,
+								"type": "con",
+								"nodes": [
+									{
+										"border": "pixel",
+										"current_border_width": 3,
+										"floating": "auto_off",
+										"geometry": {
+											"height": 460,
+											"width": 724,
+											"x": 0,
+											"y": 0
+										},
+										"name": "uav1.rviz* - RViz",
+										"percent": 1,
+										"swallows": [
+											{
+												"instance": "^rviz$"
+											}
+										],
+										"type": "con"
+									}
+								]
+							},
+							{
+								"border": "normal",
+								"floating": "auto_off",
+								"layout": "splitv",
+								"percent": 0.5,
+								"type": "con",
+								"nodes": [
+									{
+										"border": "pixel",
+										"current_border_width": 3,
+										"floating": "auto_off",
+										"geometry": {
+											"height": 460,
+											"width": 724,
+											"x": 0,
+											"y": 0
+										},
+										"name": "Gazebo",
+										"percent": 1,
+										"swallows": [
+											{
+												"instance": "^gazebo$"
+											}
+										],
+										"type": "con"
+									}
+								]
+							}
+						]
+					}
+				]
+			},
+			{
+				"border": "pixel",
+				"current_border_width": 3,
+				"floating": "auto_off",
+				"geometry": {
+					"height": 460,
+					"width": 724,
+					"x": 0,
+					"y": 0
+				},
+				"name": "./start.sh",
+				"percent": 0.26,
+				"swallows": [
+					{
+						"instance": "^urxvt$"
+					}
+				],
+				"type": "con"
+			}
+		]
+	}
+]

tmux/session.yml

@@ -0,0 +1,53 @@
+# do not modify these
+aoot: ./
+name: simulation
+socket_name: mrs
+attach: false
+tmux_options: -f /etc/ctu-mrs/tmux.conf
+# you can modify these
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=m690
+startup_window: control
+windows:
+  - roscore:
+      layout: tiled
+      panes:
+        - roscore
+  - gazebo:
+      layout: tiled
+      panes:
+        - waitForRos; roslaunch mrs_uav_gazebo_simulation simulation.launch gui:=true world_name:=forest
+        - waitForTime; roslaunch mrs_uav_px4_api api.launch
+  - rviz:
+      layout: tiled
+      panes:
+        - waitForHw; roslaunch mrs_uav_core rviz.launch
+        - waitForHw; roslaunch mrs_rviz_plugins load_robot.launch
+        - waitForHw; roslaunch mrs_rviz_plugins rviz_interface.launch
+  - spawn:
+      layout: tiled
+      panes:
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster --use-gpu-ray"
+        # - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-rplidar"
+  - takeoff:
+      layout: tiled
+      panes:
+        - waitForTime; roslaunch mrs_uav_autostart automatic_start.launch
+        - 'waitForControl; rosservice call /$UAV_NAME/hw_api/arming 1; sleep 2.0; rosservice call /$UAV_NAME/hw_api/offboard'
+  - status:
+      layout: tiled
+      panes:
+        - waitForHw; roslaunch mrs_uav_status status.launch
+  - bumper:
+      layout: tiled
+      panes:
+        - waitForHw; roslaunch mrs_bumper bumper.launch
+  - control:
+      layout: tiled
+      panes:
+        # - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
+        - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=./config/m690.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
+  - gazebo_camera_follow:
+      layout: tiled
+      panes:
+        - waitForHw; gz camera -c gzclient_camera -f uav1; history -s gz camera -c gzclient_camera -f uav1
+        - waitForControl; ~/.i3/layout_manager.sh layout.json

tmux/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