harpia/harpia.launch at main · vvannini/harpia · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
<?xml version="1.0"?>
<launch>

	<arg name="harpia_home" default="$(dirname)" doc="Defines the root directory of the project"/>

    <param name="harpia_home" value="$(arg harpia_home)" />

	<!-- MAVROS -->
	<include file="$(find mavros)/launch/px4.launch" >
		<!-- For local tests with gazebo simulation -->
		<!-- <arg name="fcu_url"		value="udp://:14540@127.0.0.1:14557" /> -->
		<arg name="fcu_url"		value="udp://:14540@localhost:14557" />


		<!-- For interfacing with USB telemetry -->
		<!-- <arg name="fcu_url" value="/dev/ttyUSB0:57600" /> -->

		<arg name="log_output"	value="log" />
	</include>


	<!-- HARPIA -->
    <node name="mission_planner_as"          	 pkg="mission_planning"     	type="mission_planner_server.py"      		respawn="false" output="screen" />
    <node name="mission_fault_mitigation_server" pkg="mission_fault_mitigation"	type="mission_fault_mitigation_server.py"   respawn="false" output="screen" />
    <node name="mission_goal_manager_server"	 pkg="mission_goal_manager" 	type="mission_goal_manager_server.py" 		respawn="true"  output="screen" />
    <node name="path_planning_server"        	 pkg="path_planning"        	type="path_planning_server.py"        		respawn="false" output="screen" />
    <!-- <node name="weather_check_server"        	 pkg="fault_detection"  		type="weather_check_server.py"        		respawn="false" output="screen" /> -->
    <node name="drone_info"      		     	 pkg="fault_detection"  		type="DroneInfoCompiler"        			respawn="false" output="screen" />
    <node name="anomaly_detector"      		     pkg="fault_detection"  		type="anomaly_detector.py"        			respawn="false" output="screen" />

	<!-- ROSPlan -->
	<include file="$(find rosplan_planning_system)/launch/interfaced_planning_system.launch" >
		<arg name="domain_path"            value="$(arg harpia_home)/pddl/domain.pddl"  />
		<arg name="autom_gen_problem_path" value="$(arg harpia_home)/pddl/problem.pddl" />
		<arg name="data_path"              value="$(arg harpia_home)/pddl/"             />
		<!-- <arg name="planner_interface" 	   value="ff_planner_interface" /> -->
		<!-- <arg name="planner_command"      value="timeout 20 $(find rosplan_planning_system)/common/bin/Metric-FF -o DOMAIN -f PROBLEM"/>  -->
	</include>

	<node name="rosplan_interface_recharge_input" pkg="rosplan_interface_harpia" type="RPHarpiaExecutor" respawn="false" output="screen">
		<param name="knowledge_base"		value="rosplan_knowledge_base"                   />
		<param name="pddl_action_name"		value="recharge_input"                           />
		<param name="action_dispatch_topic" value="/rosplan_plan_dispatcher/action_dispatch" />
		<param name="action_feedback_topic" value="/rosplan_plan_dispatcher/action_feedback" />
	</node>


	<node name="rosplan_interface_go_to" pkg="rosplan_interface_harpia" type="RPHarpiaExecutor" respawn="false" output="screen">
		<param name="knowledge_base"		value="rosplan_knowledge_base"                   />
		<param name="pddl_action_name"		value="go_to"                          />
		<param name="action_dispatch_topic" value="/rosplan_plan_dispatcher/action_dispatch" />
		<param name="action_feedback_topic" value="/rosplan_plan_dispatcher/action_feedback" />
	</node>

	<node name="rosplan_interface_pulverize_region" pkg="rosplan_interface_harpia" type="RPHarpiaExecutor" respawn="false" output="screen">
		<param name="knowledge_base"		value="rosplan_knowledge_base"                   />
		<param name="pddl_action_name"		value="pulverize_region"                         />
		<param name="action_dispatch_topic" value="/rosplan_plan_dispatcher/action_dispatch" />
		<param name="action_feedback_topic" value="/rosplan_plan_dispatcher/action_feedback" />
	</node>

	<node name="rosplan_interface_take_img" pkg="rosplan_interface_harpia" type="RPHarpiaExecutor" respawn="false" output="screen">
		<param name="knowledge_base"		value="rosplan_knowledge_base"                   />
		<param name="pddl_action_name"		value="take_image"                               />
		<param name="action_dispatch_topic" value="/rosplan_plan_dispatcher/action_dispatch" />
		<param name="action_feedback_topic" value="/rosplan_plan_dispatcher/action_feedback" />
	</node>

	<node name="rosplan_interface_recharge_battery" pkg="rosplan_interface_harpia" type="RPHarpiaExecutor" respawn="false" output="screen">
		<param name="knowledge_base"		value="rosplan_knowledge_base"                   />
		<param name="pddl_action_name"		value="recharge_battery"                         />
		<param name="action_dispatch_topic" value="/rosplan_plan_dispatcher/action_dispatch" />
		<param name="action_feedback_topic" value="/rosplan_plan_dispatcher/action_feedback" />
	</node>

</launch>