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Added init session for the kopter with manipulator #26

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Added init session for the kopter with manipulator #26

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27 changes: 27 additions & 0 deletions startup/kopterworx_manipulator_one_flying/.tmuxinator.yml
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Original file line number Diff line number Diff line change
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name: single_kopter
root: ./
startup_window: roscore
pre_window: export UAV_NAMESPACE=red
windows:
- roscore:
layout: tiled
panes:
- roscore
- export SITL_RITW_TERMINAL="tmux new-window -d -n:ardupilot1"; waitForRos;
roslaunch ardupilot_gazebo sim_vehicle.launch
enable_console:=false
additional_arguments:="--no-rebuild"
- waitForRos; rosparam set use_sim_time true; roslaunch ardupilot_gazebo mavros.launch
- gazebo:
layout: tiled
panes:
- waitForRos; bash -c "source /root/uam_ws/devel/setup.bash; roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_manipulator:=true"
- arm&takeof:
layout: tiled
panes:
- waitForRos; roslaunch uav_ros_control pid_carrot.launch
- rosrun ardupilot_gazebo automatic_takeoff.sh 2
- trajectory:
layout: tiled
panes:
- waitForRos; roslaunch uav_ros_tracker topp_tracker.launch
27 changes: 27 additions & 0 deletions startup/kopterworx_manipulator_one_flying/session.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
name: single_kopter
root: ./
startup_window: roscore
pre_window: export UAV_NAMESPACE=red
windows:
- roscore:
layout: tiled
panes:
- roscore
- export SITL_RITW_TERMINAL="tmux new-window -d -n:ardupilot1"; waitForRos;
roslaunch ardupilot_gazebo sim_vehicle.launch
enable_console:=false
additional_arguments:="--no-rebuild"
- waitForRos; rosparam set use_sim_time true; roslaunch ardupilot_gazebo mavros.launch
- gazebo:
layout: tiled
panes:
- waitForRos; bash -c "source /root/uam_ws/devel/setup.bash; roslaunch ardupilot_gazebo kopterworx.launch use_sim_time:=true enable_manipulator:=true"
- arm&takeof:
layout: tiled
panes:
- waitForRos; roslaunch uav_ros_control pid_carrot.launch
- rosrun ardupilot_gazebo automatic_takeoff.sh 2
- trajectory:
layout: tiled
panes:
- waitForRos; roslaunch uav_ros_tracker topp_tracker.launch
16 changes: 16 additions & 0 deletions startup/kopterworx_manipulator_one_flying/start.sh
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#!/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"

# remove the old link
rm .tmuxinator.yml

# link the session file to .tmuxinator.yml
ln session.yml .tmuxinator.yml

# start tmuxinator
tmuxinator
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