iroc_bridge

Functionality

• Once activated, the nodelet listens to the uavX/mrs_uav_status/uav_status topic and translates the messages from ROS to a JSON format.
• Documentation of the relevant message type mrs_msgs/UavStatus is available here.

Dependencies

You must have installed the MRS system on your PC (ROS1). The steps are in the README.

Ubuntu 20.04

The recommended way is to use native installation and a stable version https://github.com/ctu-mrs/mrs_uav_system/blob/master/README.md#native-installation.

Other OS

https://github.com/ctu-mrs/mrs_singularity

How to run

You can run the whole simulation, including the iroc_bridge package, using the prepared tmux session

./tmux/one_drone/start.sh

There are more sessions ready to be used.

We prepared sessions running mrs_multirotor_simulator (a lightway simulator that allows to run many drones at once without the high computation requirements). Those sessions have mrs_ appendix in the names of the folders. For example, session for the one drone:

./tmux/mrs_one_drone/start.sh

NOTE: Not all sensor data are simulated in the mrs_multirotor_simulator!

The call the services prepared in the terminal window.

How to control the drones using the iroc_bridge

When the iroc_bridge is running and drones are ready you can call takeoff or land for all available drones using a web browser by visiting the following links:

http://localhost:8080/takeoff_all

http://localhost:8080/land_all

Package structure

See ROS packages

• src directory contains all source files
• include directory contains all header files
• launch directory contains .launch files which are used to parametrize the nodelet. Command-line arguments, as well as environment variables, can be loaded from the launch files, the nodelet can be put into the correct namespace, config files are loaded, and parameters passed to the nodelet. See .launch files
• config directory contains parameters in .yaml files. See .yaml files
• package.xml defines properties of the package, such as package name and dependencies. See package.xml
• tmux directory contains prepared tmux sessions