Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Added waypoint_planning feature to tuning branch for pull request. #60

Open
wants to merge 1 commit into
base: tuning_mode
Choose a base branch
from
Open

Added waypoint_planning feature to tuning branch for pull request. #60

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
28 changes: 28 additions & 0 deletions rosplane_utils/src/waypoint_planning/waypoint_planning/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,28 @@
cmake_minimum_required(VERSION 2.8.3)
project(waypoint_planning)

find_package(catkin REQUIRED COMPONENTS
rospy
rqt_gui
rqt_gui_py
)


# To enable assertions when compiled in release mode.
catkin_package()
catkin_python_setup()

include_directories(
${catkin_INCLUDE_DIRS}
)


install(PROGRAMS scripts/waypoint_planning
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch resource
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES plugin.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
22 changes: 22 additions & 0 deletions rosplane_utils/src/waypoint_planning/waypoint_planning/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
ROSplane Plugins
=================

This ROS package contains basic plugins for controlling a uav, setting waypoints etc..

The waypoint planning node allows dynamic changes (without rewriting
code or rerunning nodes) of the waypoint path.

It's functionality is best observed by opening Gazebo and launching the
rosplane groundstation.

As shown in the GUI, the points listed on the right represent the
current waypoints the plane is/will attempt to reach. Clicking the clear
list button clears the plane's current waypoints completely and returns the plane to
loiter about the origin.

On the left are waypoints to be sent to the plane. These can be added
and edited using the text boxes below, but will not be executed by the
plane until sent to the waypoint list.

Finally, waypoint lists from the left column can be saved and loaded
for later use using the corresponding buttons.
5 changes: 5 additions & 0 deletions rosplane_utils/src/waypoint_planning/waypoint_planning/launch/waypoint_planning.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
<?xml version="1.0"?>
<launch>
<remap from="waypoint_path" to="fixedwing/waypoint_path"/>
<node name="waypoint" pkg="waypoint_planning" type="waypoint_planning" output="screen"/>
</launch>
30 changes: 30 additions & 0 deletions rosplane_utils/src/waypoint_planning/waypoint_planning/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,30 @@
<package>
<name>waypoint_planning</name>
<version>2.0.2</version>
<description>The waypoint_planning package</description>

<maintainer email="[email protected]">Tim Whiting</maintainer>

<author>Tim Whiting</author>

<license>BSD</license>

<buildtool_depend>catkin</buildtool_depend>

<!-- Dependencies needed after this package is compiled. -->
<run_depend>python_qt_binding</run_depend>
<run_depend>qt_gui</run_depend>
<run_depend>rospy</run_depend>
<run_depend>rqt_gui</run_depend>
<run_depend>rqt_gui_py</run_depend>
<run_depend>python-rospkg</run_depend>
<run_depend>roslib</run_depend>
<run_depend>rosnode</run_depend>
<run_depend>rqt_py_common</run_depend>
<run_depend>rosplane_msgs</run_depend>

<export>
<rqt_gui plugin="${prefix}/plugin.xml"/>
</export>

</package>
17 changes: 17 additions & 0 deletions rosplane_utils/src/waypoint_planning/waypoint_planning/plugin.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<library path="src">
<class name="WaypointPlanner" type="waypoint_planning.waypoint_planning.WaypointPlanner" base_class_type="rqt_gui_py::Plugin">
<description>
An example Python GUI plugin to create a great user interface.
</description>
<qtgui>
<group>
<label>ROSplane</label>
<icon type="theme">folder</icon>
<statustip>Plugins related to the AUVSI competition.</statustip>
</group>
<label>Waypoint Planning</label>
<icon type="theme">system-help</icon>
<statustip>Great user interface to provide real value.</statustip>
</qtgui>
</class>
</library>
Loading