Add trail plan and switch default config to ArduCopter with fixed alt

launch/single_robot.launch.py

@@ -9,22 +9,15 @@
 
 def generate_launch_description():
  namespace = 'robot_0'
- data_type = 'SonarData'
+ data_type = 'Altitude'
  num_robots = 1
- num_waypoints = 30
+ num_waypoints = 10
  sampling_rate = 2
  geofence_plan = PathJoinSubstitution([FindPackageShare('ros_sgp_tools'),
  'launch',
- 'lake.plan'])
+ 'trail.plan'])
 
  return LaunchDescription([
- Node(
- package='ros_sgp_tools',
- executable='lake_depth_publisher.py',
- namespace=namespace,
- name='lake_depth_publisher'
- ),
-
  Node(
  package='ros_sgp_tools',
  executable='offline_ipp.py',

launch/trail.plan

@@ -0,0 +1,105 @@
+{
+ "fileType": "Plan",
+ "geoFence": {
+ "circles": [
+ ],
+ "polygons": [
+ {
+ "inclusion": true,
+ "polygon": [
+ [
+ 35.30939176648549,
+ -80.73818472191542
+ ],
+ [
+ 35.3095991283288,
+ -80.73790612070032
+ ],
+ [
+ 35.310125087646526,
+ -80.73756556377332
+ ],
+ [
+ 35.31038492318519,
+ -80.73741107163788
+ ],
+ [
+ 35.310354452730856,
+ -80.73725312570001
+ ],
+ [
+ 35.309791798829394,
+ -80.73757378437273
+ ],
+ [
+ 35.3094913652412,
+ -80.73768550881958
+ ],
+ [
+ 35.30909351039503,
+ -80.7377566937338
+ ]
+ ],
+ "version": 1
+ }
+ ],
+ "version": 2
+ },
+ "groundStation": "QGroundControl",
+ "mission": {
+ "cruiseSpeed": 15,
+ "firmwareType": 3,
+ "globalPlanAltitudeMode": 1,
+ "hoverSpeed": 5,
+ "items": [
+ {
+ "AMSLAltAboveTerrain": null,
+ "Altitude": 20,
+ "AltitudeMode": 1,
+ "autoContinue": true,
+ "command": 22,
+ "doJumpId": 1,
+ "frame": 3,
+ "params": [
+ 0,
+ 0,
+ 0,
+ null,
+ 0,
+ 0,
+ 20
+ ],
+ "type": "SimpleItem"
+ },
+ {
+ "autoContinue": true,
+ "command": 20,
+ "doJumpId": 2,
+ "frame": 2,
+ "params": [
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0
+ ],
+ "type": "SimpleItem"
+ }
+ ],
+ "plannedHomePosition": [
+ 35.3092744698269,
+ -80.7378284186458,
+ 183
+ ],
+ "vehicleType": 2,
+ "version": 2
+ },
+ "rallyPoints": {
+ "points": [
+ ],
+ "version": 2
+ },
+ "version": 1
+}

scripts/ipp_mission.py

@@ -90,7 +90,7 @@ def mission(self):
 
 def main(args=None):
  rclpy.init(args=args)
- mission_planner = IPPMissionPlanner()
+ mission_planner = IPPMissionPlanner(True)
  rclpy.spin_once(mission_planner)
 
 if __name__ == '__main__':