Merge branch 'main' of github.com:PegasusResearch/pegasus

docs/source/console/terminal_console.rst

@@ -5,4 +5,13 @@ Terminal console
 .. image:: /_static/terminal_console/terminal_console.png
     :width: 700px
     :align: center
-    :alt: Terminal Console
+    :alt: Terminal Console
+
+To execute the terminal console you need to run the following command:
+
+.. code:: bash
+
+    ros2 run pegasus_console pegasus_console -i <vehicle_id> -n <namespace>
+
+You should replace the ``<vehicle_id>`` with the vehicle id you want to connect to. If not option is provided, the console will attempt to connect to ID 1.
+If you want to connect to a specific namespace, you should replace the ``<namespace>`` with the desired namespace. If no namespace is provided, the console will connect to the default namespace "drone".

pegasus/launch/real/kopis.launch.py

@@ -15,7 +15,7 @@ def generate_launch_description():
     # --------------------------------
 
     # Set the default vehicle id (note: this is a trick due to the parameter reading limitation in ROS2)
-    default_vehicle_id = 1
+    default_vehicle_id = 7
     vehicle_id = default_vehicle_id
     for arg in sys.argv:
         if arg.startswith('vehicle_id:='):
@@ -26,9 +26,9 @@ def generate_launch_description():
     # ----------------------------------------
 
     # Define the standard mavlink port to forward mavlink data (so that it can also be viewed internally by qgroundcontrol)
-    udp_local_forward_port = 14559 + vehicle_id
-    udp_local_forward_adress = "udp://127.0.0.1:" + str(udp_local_forward_port)
-    desktop_arena = "udp://192.168.1.100:15006"
+    #udp_local_forward_port = 14559 + vehicle_id + 10
+    #udp_local_forward_adress = "udp://127.0.0.1:" + str(udp_local_forward_port)
+    #desktop_arena = "udp://192.168.1.100:15006"
     #mavlink_forward_addresses = "[" + udp_local_forward_adress + ',' + desktop_arena + "]"
     mavlink_forward_addresses = "['']"
 
@@ -38,7 +38,7 @@ def generate_launch_description():
     namespace_arg = DeclareLaunchArgument('vehicle_ns', default_value='drone', description='Namespace to append to every topic and node name')
 
     # Define the drone MAVLINK IP and PORT
-    mav_connection_arg = DeclareLaunchArgument('connection', default_value='udp://:15007', description='The interface used to connect to the vehicle')
+    mav_connection_arg = DeclareLaunchArgument('connection', default_value='udp://:' + str(15000 + vehicle_id), description='The interface used to connect to the vehicle')
 
     # Define the drone MAVLINK forward ips and ports
     mavlink_forward_arg = DeclareLaunchArgument('mavlink_forward', default_value=mavlink_forward_addresses, description='A list of ips where to forward mavlink messages')

pegasus/launch/real/pegasus.launch.py

@@ -15,7 +15,7 @@ def generate_launch_description():
     # --------------------------------
 
     # Set the default vehicle id (note: this is a trick due to the parameter reading limitation in ROS2)
-    default_vehicle_id = 1
+    default_vehicle_id = 8
     vehicle_id = default_vehicle_id
     for arg in sys.argv:
         if arg.startswith('vehicle_id:='):

pegasus_console/include/pegasus_console/console_node.hpp

@@ -79,7 +79,7 @@ class ConsoleNode : public rclcpp::Node {
 
 public:
 
-    ConsoleNode();
+    ConsoleNode(const std::string vehicle_namespace, const unsigned int vehicle_id);
     ~ConsoleNode();
 
     void initialize_subscribers();
@@ -126,6 +126,9 @@ class ConsoleNode : public rclcpp::Node {
     void status_callback(const pegasus_msgs::msg::Status::ConstSharedPtr msg);
     void autopilot_status_callback(const pegasus_msgs::msg::AutopilotStatus::ConstSharedPtr msg);
 
+    // Auxiliar variable to setup the vehicle namespace when launching the node as a normal c++ program
+    std::string vehicle_namespace_;
+
     // Configuration for the console UI
     ConsoleUI::Config config_;
 

pegasus_console/src/console_node.cpp

@@ -48,7 +48,10 @@
 #include "console_node.hpp"
 #include "pegasus_utils/rotations.hpp"
 
-ConsoleNode::ConsoleNode() : rclcpp::Node("pegasus_console") {
+ConsoleNode::ConsoleNode(const std::string vehicle_namespace, const unsigned int vehicle_id=1) : rclcpp::Node("pegasus_console") {
+
+    // Initialize the vehicle namespace
+    vehicle_namespace_ = std::string(vehicle_namespace + std::to_string(vehicle_id)); 
 
     // Initialize the subscribers, services and publishers
     initialize_publishers();
@@ -91,9 +94,9 @@ ConsoleNode::~ConsoleNode() {}
 
 void ConsoleNode::initialize_subscribers() {
 
-    this->declare_parameter<std::string>("console.subscribers.onboard.status", "/drone1/fmu/status");
-    this->declare_parameter<std::string>("console.subscribers.onboard.state", "/drone1/fmu/filter/state");
-    this->declare_parameter<std::string>("console.subscribers.autopilot.status", "/drone1/autopilot/status");
+    this->declare_parameter<std::string>("console.subscribers.onboard.status", vehicle_namespace_ + std::string("/fmu/status"));
+    this->declare_parameter<std::string>("console.subscribers.onboard.state", vehicle_namespace_ + std::string("/fmu/filter/state"));
+    this->declare_parameter<std::string>("console.subscribers.autopilot.status", vehicle_namespace_ + std::string("/autopilot/status"));
 
     // Status of the vehicle
     status_sub_ = this->create_subscription<pegasus_msgs::msg::Status>(
@@ -113,8 +116,8 @@ void ConsoleNode::initialize_subscribers() {
 
 void ConsoleNode::initialize_publishers() {
 
-    this->declare_parameter<std::string>("console.publishers.onboard.attitude_rate", "/drone1/fmu/in/throtle/attitude_rate");
-    this->declare_parameter<std::string>("console.publishers.onboard.position", "/drone1/fmu/in/position");
+    this->declare_parameter<std::string>("console.publishers.onboard.attitude_rate", vehicle_namespace_ + std::string("/fmu/in/throtle/attitude_rate"));
+    this->declare_parameter<std::string>("console.publishers.onboard.position", vehicle_namespace_ + std::string("/fmu/in/position"));
 
     // Publish the attitude setpoints to the vehicle for thrust curve control
     attitude_rate_pub_ = this->create_publisher<pegasus_msgs::msg::ControlAttitude>(
@@ -129,19 +132,19 @@ void ConsoleNode::initialize_publishers() {
 
 void ConsoleNode::initialize_services() {
 
-    this->declare_parameter<std::string>("console.services.onboard.arm_disarm", "/drone1/fmu/arm");
-    this->declare_parameter<std::string>("console.services.onboard.land", "/drone1/fmu/land");
-    this->declare_parameter<std::string>("console.services.onboard.kill_switch", "/drone1/fmu/kill_switch");
-    this->declare_parameter<std::string>("console.services.onboard.position_hold", "/drone1/fmu/hold");
-    this->declare_parameter<std::string>("console.services.onboard.offboard", "/drone1/fmu/offboard");
-
-    this->declare_parameter<std::string>("console.services.autopilot.set_mode", "/drone1/autopilot/change_mode");
-    this->declare_parameter<std::string>("console.services.autopilot.set_waypoint", "/drone1/autopilot/set_waypoint");
-    this->declare_parameter<std::string>("console.services.autopilot.add_arc", "/drone1/autopilot/trajectory/add_arc");
-    this->declare_parameter<std::string>("console.services.autopilot.add_line", "/drone1/autopilot/trajectory/add_line");
-    this->declare_parameter<std::string>("console.services.autopilot.add_circle", "/drone1/autopilot/trajectory/add_circle");
-    this->declare_parameter<std::string>("console.services.autopilot.add_lemniscate", "/drone1/autopilot/trajectory/add_lemniscate");
-    this->declare_parameter<std::string>("console.services.autopilot.reset_path", "/drone1/autopilot/trajectory/reset");
+    this->declare_parameter<std::string>("console.services.onboard.arm_disarm", vehicle_namespace_ + std::string("/fmu/arm"));
+    this->declare_parameter<std::string>("console.services.onboard.land", vehicle_namespace_ + std::string("/fmu/land"));
+    this->declare_parameter<std::string>("console.services.onboard.kill_switch", vehicle_namespace_ + std::string("/fmu/kill_switch"));
+    this->declare_parameter<std::string>("console.services.onboard.position_hold", vehicle_namespace_ + std::string("/fmu/hold"));
+    this->declare_parameter<std::string>("console.services.onboard.offboard", vehicle_namespace_ + std::string("/fmu/offboard"));
+
+    this->declare_parameter<std::string>("console.services.autopilot.set_mode", vehicle_namespace_ + std::string("/autopilot/change_mode"));
+    this->declare_parameter<std::string>("console.services.autopilot.set_waypoint", vehicle_namespace_ + std::string("/autopilot/set_waypoint"));
+    this->declare_parameter<std::string>("console.services.autopilot.add_arc", vehicle_namespace_ + std::string("/autopilot/trajectory/add_arc"));
+    this->declare_parameter<std::string>("console.services.autopilot.add_line", vehicle_namespace_ + std::string("/autopilot/trajectory/add_line"));
+    this->declare_parameter<std::string>("console.services.autopilot.add_circle", vehicle_namespace_ + std::string("/autopilot/trajectory/add_circle"));
+    this->declare_parameter<std::string>("console.services.autopilot.add_lemniscate", vehicle_namespace_ + std::string("/autopilot/trajectory/add_lemniscate"));
+    this->declare_parameter<std::string>("console.services.autopilot.reset_path", vehicle_namespace_ + std::string("/autopilot/trajectory/reset"));
 
     // Create the service clients
     arm_disarm_client_ = this->create_client<pegasus_msgs::srv::Arm>(this->get_parameter("console.services.onboard.arm_disarm").as_string());

pegasus_console/src/main.cpp

@@ -49,11 +49,43 @@
 #include "console_node.hpp"
 
 int main(int argc, char * argv[]) {
+
+    // --------------------------------------------------------------------------
+    // ---- Parse the parameters from getopt to get the ID of the vehicle -------
+    // --------------------------------------------------------------------------
+
+    // Default vehicle id
+    int ch;
+    unsigned int vehicle_id = 1;
+    std::string vehicle_namespace = "/drone";
+
+    while((ch = getopt(argc, argv, "i:n:")) != -1) {
+        switch(ch) {
+            case 'i':
+                try {
+                    // Check if the ID is a number
+                    vehicle_id = std::stoi(optarg);
+                } catch (std::invalid_argument& e) {
+                    std::cerr << "The ID of the vehicle must be a number" << std::endl;
+                    return 0;
+                }
+                break;
+            case 'n':
+                vehicle_namespace = std::string("/") + std::string(optarg);
+                break;
+            default:
+                return 0;
+        }
+    }
+
+    // --------------------------------------------------------------------------
+    // ---- Initialize the ROS2 node --------------------------------------------
+    // --------------------------------------------------------------------------
 
     rclcpp::init(argc, argv);
 
     // Create the ConsoleNode
-    auto console_node = std::make_shared<ConsoleNode>();
+    auto console_node = std::make_shared<ConsoleNode>(vehicle_namespace, vehicle_id);
     console_node->start();
 
     rclcpp::shutdown();