session.yml

name: simulation
root: ./
startup_window: status
pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=f450; export ODOMETRY_TYPE=gps; export WORLD_NAME=simulation
windows:
  - roscore:
      layout: tiled
      panes:
        - roscore
  - gazebo:
      layout: tiled
      panes:
        - waitForRos; roslaunch mrs_simulation simulation.launch world_name:=grass_plane gui:=true
  - status:
      layout: tiled
      synchronize: after
      panes:
        - export UAV_NAME=uav1; waitForSimulation; roslaunch mrs_uav_status status.launch
        - export UAV_NAME=uav2; waitForSimulation; roslaunch mrs_uav_status status.launch
  - spawn:
      layout: tiled
      synchronize: after
      panes:
        - waitForSimulation; spawn_uav 1 --$UAV_TYPE --run --delete --enable-rangefinder --enable-ground-truth --file uav1_pos.yaml
        - waitForSimulation; spawn_uav 2 --$UAV_TYPE --run --delete --enable-rangefinder --enable-ground-truth --file uav2_pos.yaml
  - control:
      layout: tiled
      synchronize: after
      panes:
        - export UAV_NAME=uav1; waitForOdometry; roslaunch mrs_uav_general core.launch
        - export UAV_NAME=uav2; waitForOdometry; roslaunch mrs_uav_general core.launch
  - automatic_start:
      layout: tiled
      synchronize: after
      panes:
        - export UAV_NAME=uav1; waitForSimulation; roslaunch mrs_uav_general automatic_start.launch
        - export UAV_NAME=uav2; waitForSimulation; roslaunch mrs_uav_general automatic_start.launch
  - takeoff:
      layout: tiled
      synchronize: after
      panes:
        # #{ uav1
        - 'export UAV_NAME=uav1;
          waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 2;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
        # #}
        # #{ uav2
        - 'export UAV_NAME=uav2;
          waitForControl;
          rosservice call /$UAV_NAME/mavros/cmd/arming 1;
          sleep 2;
          rosservice call /$UAV_NAME/mavros/set_mode 0 offboard'
        # #}
  - goto:
      layout: tiled
      synchronize: after
      panes:
        - 'export UAV_NAME=uav1;
          history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[10.0, 0.0, 3.0, 0.0\]\";
          history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[-10.0, 0.0, 3.0, 0.0\]\"'
        - 'export UAV_NAME=uav2;
          history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[-10.0, 0.0, 3.0, 0.0\]\";
          history -s rosservice call /$UAV_NAME/control_manager/goto \"goal: \[10.0, 0.0, 3.0, 0.0\]\"'
  - tf_connector_dummy:
      layout: tiled
      panes:
        - waitForControl; roslaunch mrs_uav_odometry tf_connector_dummy.launch
  - rviz:
      layout: tiled
      panes:
        - waitForControl; roslaunch mrs_uav_testing rviz.launch
        - waitForControl; export UAV_NAME=uav1; roslaunch mrs_rviz_plugins load_robot.launch
        - waitForControl; export UAV_NAME=uav2; roslaunch mrs_rviz_plugins load_robot.launch