updated testing session

ctu-mrs · Feb 23, 2024 · 84b16be · 84b16be
1 parent 8a9d81b
commit 84b16be
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Showing 4 changed files with 7 additions and 70 deletions.
diff --git a/tmux/config/custom_config.yaml b/tmux/config/custom_config.yaml
@@ -13,7 +13,7 @@ mrs_uav_managers:
     # "dummy"
     ]
 
-    initial_state_estimator: "gps_baro" # will be used as the first state estimator
+    initial_state_estimator: "gps_garmin" # will be used as the first state estimator
     agl_height_estimator: "garmin_agl" # only slightly filtered height for checking min height (not used in control feedback)
 
   control_manager:
@@ -29,10 +29,10 @@ mrs_uav_managers:
       controller: "Se3Controller"
 
       horizontal:
-        threshold_distance: 2.5 # [m]
+        threshold_distance: 1.2 # [m]
 
       vertical:
-        threshold_distance: 1.5 # [m]
+        threshold_distance: 1.2 # [m]
 
   uav_manager:
 

diff --git a/tmux/config/m690.yaml b/tmux/config/m690.yaml
diff --git a/tmux/config/world_config.yaml b/tmux/config/world_config.yaml
@@ -7,7 +7,7 @@ world_origin:
 
 safety_area:
 
-  enabled: true
+  enabled: false
 
   horizontal:
 

diff --git a/tmux/session.yml b/tmux/session.yml
@@ -5,7 +5,7 @@ socket_name: mrs
 attach: false
 tmux_options: -f /etc/ctu-mrs/tmux.conf
 # you can modify these
-pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=m690
+pre_window: export UAV_NAME=uav1; export RUN_TYPE=simulation; export UAV_TYPE=x500
 startup_window: control
 windows:
   - roscore:
@@ -26,7 +26,7 @@ windows:
   - spawn:
       layout: tiled
       panes:
-        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster --use-gpu-ray"
+        - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-ouster use_gpu:=True"
         # - waitForGazebo; rosservice call /mrs_drone_spawner/spawn "1 $UAV_TYPE --enable-rangefinder --enable-rplidar"
   - takeoff:
       layout: tiled
@@ -44,8 +44,7 @@ windows:
   - control:
       layout: tiled
       panes:
-        # - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
-        - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=./config/m690.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
+        - waitForTime; roslaunch mrs_uav_core core.launch platform_config:=`rospack find mrs_uav_gazebo_simulation`/config/mrs_uav_system/$UAV_TYPE.yaml custom_config:=./config/custom_config.yaml world_config:=./config/world_config.yaml network_config:=./config/network_config.yaml
   - gazebo_camera_follow:
       layout: tiled
       panes: