modify readme

sensing/pose_ground_truth/1.8/get_local_pose.py

@@ -1,21 +0,0 @@
-import rospy
-from geometry_msgs.msg import PoseStamped
-from nav_msgs.msg import Odometry
-import sys
-import tf
-
-local_pose = PoseStamped()
-
-def odm_groundtruth_callback(msg):
-    local_pose.header = msg.header
-    local_pose.pose = msg.pose.pose
-
-if __name__ == '__main__':
-    rospy.init_node('get_pose_groundtruth')
-    odom_groundtruth_sub = rospy.Subscriber('/xtdrone/ground_truth/odom', Odometry, odm_groundtruth_callback)
-    pose_pub = rospy.Publisher('/mavros/vision_pose/pose', PoseStamped, queue_size=2)
-    rate = rospy.Rate(100)
-    while True:
-        pose_pub.publish(local_pose)
-        rate.sleep()
-

sitl_config/launch/iris_arm.launch

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="world" default="worlds/empty.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+    </include>
+    <!-- UAV0 -->
+    <group ns="iris_0">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="0"/>
+        <arg name="fcu_url" default="udp://:24540@localhost:34580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
+            <arg name="x" value="0.5"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="18570"/>
+            <arg name="mavlink_tcp_port" value="4560"/>
+            <arg name="ID" value="$(arg ID)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <param  name="robot_description"  command="$(find xacro)/xacro --inorder '$(find le_arm)/urdf/le_arm.xacro'" />
+    <include file="$(find le_arm)/launch/controller_utils.launch"/>
+    <rosparam file="$(find le_arm)/controller/le_arm_controller.yaml" command="load"/>
+    <node name="le_arm_controller_spawner" pkg="controller_manager" type="spawner" args="le_arm_controller" />
+    <rosparam file="$(find le_arm)/controller/gripper_controller.yaml" command="load"/>
+    <node name="gripper_controller_spawner" pkg="controller_manager" type="spawner" args="gripper_controller" />
+</launch>
+<!-- to add more UAVs (up to 10):
+Increase the id
+Change the name space
+Set the FCU to default="udp://:14540+id@localhost:14550+id"
+Set the malink_udp_port to 14560+id) -->

sitl_config/ugv/sicktoolbox

@@ -1 +0,0 @@
-Subproject commit 9ad2fbf962e7ac46991ced5ce81a6536895bed6c