session.yml

name: simulation
root: ./
on_project_start: nums=$(shuf -i 1-30 -n 30 | tr '\n' " "); echo "UAV_NUMBERS=($nums)" > /tmp/random_uav_numbers;
pre_window: source /tmp/random_uav_numbers; export UAV_NAME="uav${UAV_NUMBERS[1]}"; export RUN_TYPE=simulation; export UAV_TYPE=x500; export WORLD_NAME=simulation; export STANDALONE=true; export SENSORS="garmin_down"
startup_window: status
windows:
  - roscore:
      layout: tiled
      panes:
        - roscore
  - gazebo:
      layout: tiled
      panes:
        - waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
        - waitForOdometry; gz camera -c gzclient_camera -f ${UAV_NAME}; history -s gz camera -c gzclient_camera -f ${UAV_NAME}
  - status:
      layout: tiled
      panes:
        - waitForSimulation; roslaunch mrs_uav_status status.launch
  - spawn:
      layout: tiled
      panes:
        - waitForSimulation; rosservice call /mrs_drone_spawner/spawn "${UAV_NUMBERS[1]} $UAV_TYPE --enable-rangefinder"
  - odometry:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_odometry odometry.launch
  - control_manager:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_managers control_manager.launch
  - uav_manager:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_managers uav_manager.launch
  - gains_constraints:
      layout: tiled
      panes:
        - waitForOdometry; roslaunch mrs_uav_managers gain_manager.launch
        - waitForOdometry; roslaunch mrs_uav_managers constraint_manager.launch
  - takeoff:
      layout: tiled
      panes:
        - waitForSimulation; roslaunch mrs_uav_general automatic_start.launch
        - 'waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 2;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
  - goto:
      layout: tiled
      panes:
        - 'history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[0.0, 10.0, 1.5, 0.0\]\"'
  - rviz:
      layout: tiled
      panes:
        - waitForControl; roslaunch mrs_uav_testing rviz_random_simulation.launch
        - waitForControl; roslaunch mrs_rviz_plugins load_robot.launch
  - easy_control:
      layout: tiled
      panes:
        - waitForControl; waitForControl; roslaunch mrs_uav_general logitech_joystick.launch
        - waitForControl; waitForControl; roslaunch mrs_rviz_plugins rviz_interface.launch
  - layout:
      layout: tiled
      panes:
        - waitForControl; sleep 3; ~/.i3/layout_manager.sh ./layout.json