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Parameterize the flight stack for MAVROS #41

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merged 2 commits into from
Feb 19, 2024
Merged

Parameterize the flight stack for MAVROS #41

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82c3e82
Start to paramaterize the flight stack
Ryanf55 Jan 19, 2024
66ce79e
Add default value of PX4
Ryanf55 Feb 19, 2024
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86 changes: 64 additions & 22 deletions terrain_navigation_ros/launch/mavros.launch.py
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Original file line number Diff line number Diff line change
@@ -1,22 +1,48 @@
import os

from launch.actions import DeclareLaunchArgument
from launch.substitutions import TextSubstitution
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.conditions.launch_configuration_equals import LaunchConfigurationEquals
from launch_ros.actions import Node


FLIGHT_STACK_PX4 = "px4"
FLIGHT_STACK_ARDUPILOT = "ardupilot"
FLIGHT_STACK_ARG_NAME = "flight_stack"
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def generate_launch_description():
# package directories
pkg_mavros = get_package_share_directory("mavros")
pkg_terrain_navigation_ros = get_package_share_directory("terrain_navigation_ros")

# TODO: remove hardcoding
FLIGHT_STACK_CONFIGS = {
FLIGHT_STACK_PX4: {
"fcu_url": "udp://127.0.0.1:14540@14557",
"config_yaml": os.path.join(pkg_mavros, "launch", "px4_config.yaml"),
"pluginlists_yaml": os.path.join(
pkg_mavros, "launch", "px4_pluginlists.yaml"
),
},
FLIGHT_STACK_ARDUPILOT: {
"fcu_url": "udp://127.0.0.1:14551@14555",
"config_yaml": os.path.join(
pkg_terrain_navigation_ros, "config", "ap_config.yaml"
),
"pluginlists_yaml": os.path.join(
pkg_terrain_navigation_ros, "config", "ap_pluginlists.yaml"
),
},
}

# mavros config
# ardupilot
fcu_url = "udp://127.0.0.1:14551@14555"
# px4
fcu_url = "udp://127.0.0.1:14540@14557"
flight_stack_arg = DeclareLaunchArgument(
FLIGHT_STACK_ARG_NAME,
default_value=FLIGHT_STACK_PX4,
choices=[FLIGHT_STACK_PX4, FLIGHT_STACK_ARDUPILOT],
description="Autopilot Type - See https://github.com/ROS-Aerial/aerial_robotic_landscape/blob/main/autopilots_suites.md",
)

gcs_url = ""
tgt_system = 1
Expand All @@ -25,36 +51,52 @@ def generate_launch_description():
respawn_mavros = False
namespace = "mavros"

# ardupilot
config_yaml = os.path.join(pkg_terrain_navigation_ros, "config", "ap_config.yaml")
pluginlists_yaml = os.path.join(
pkg_terrain_navigation_ros, "config", "ap_pluginlists.yaml"
condition_px4 = LaunchConfigurationEquals(
FLIGHT_STACK_ARG_NAME, [TextSubstitution(text=FLIGHT_STACK_PX4)]
)

condition_ardupilot = LaunchConfigurationEquals(
FLIGHT_STACK_ARG_NAME, [TextSubstitution(text=FLIGHT_STACK_ARDUPILOT)]
)
# px4
config_yaml = os.path.join(pkg_mavros, "launch", "px4_config.yaml")
pluginlists_yaml = os.path.join(pkg_mavros, "launch", "px4_pluginlists.yaml")

# mavros node
mavros = Node(
# mavros node for PX4
mavros_px4 = Node(
condition=condition_px4,
package="mavros",
executable="mavros_node",
namespace=namespace,
parameters=[
{"fcu_url": fcu_url},
{"fcu_url": FLIGHT_STACK_CONFIGS[FLIGHT_STACK_PX4]["fcu_url"]},
{"gcs_url": gcs_url},
{"tgt_system": tgt_system},
{"tgt_component": tgt_component},
{"fcu_protocol": fcu_protocol},
pluginlists_yaml,
config_yaml,
FLIGHT_STACK_CONFIGS[FLIGHT_STACK_PX4]["pluginlists_yaml"],
FLIGHT_STACK_CONFIGS[FLIGHT_STACK_PX4]["config_yaml"],
],
remappings=[],
respawn=respawn_mavros,
output="screen",
)

return LaunchDescription(
[
mavros,
]
# mavros node for PX4
mavros_ardupilot = Node(
condition=condition_ardupilot,
package="mavros",
executable="mavros_node",
namespace=namespace,
parameters=[
{"fcu_url": FLIGHT_STACK_CONFIGS[FLIGHT_STACK_ARDUPILOT]["fcu_url"]},
{"gcs_url": gcs_url},
{"tgt_system": tgt_system},
{"tgt_component": tgt_component},
{"fcu_protocol": fcu_protocol},
FLIGHT_STACK_CONFIGS[FLIGHT_STACK_ARDUPILOT]["pluginlists_yaml"],
FLIGHT_STACK_CONFIGS[FLIGHT_STACK_ARDUPILOT]["config_yaml"],
],
remappings=[],
respawn=respawn_mavros,
output="screen",
)

return LaunchDescription([mavros_px4, mavros_ardupilot, flight_stack_arg])