blob: ad6cd46e7520e111f1cfb51506dd565685992a04 [file] [log] [blame]
# Copyright 2021-present Open Networking Foundation
#
# SPDX-License-Identifier: Apache-2.0
images:
tags:
rosCore: docker.io/drone-ros:0.0.1-debug
droneNetListener: docker.io/ros:melodic
depCheck: quay.io/stackanetes/kubernetes-entrypoint:v0.3.1
pullPolicy: IfNotPresent
nodeSelector:
enabled: false
rosCore:
label: drone-ros-core
value: enabled
gcs:
label: drone-ros-core
value: enabled
console:
label: drone-ros-core
value: enabled
resources:
enabled: false
config:
rosCore:
debug: false
launchFiles:
core.launch: |
<launch>
<arg name="server" default="mocap.local"/>
<node pkg="vrpn_client_ros" type="vrpn_client_node" name="vrpn_client_node" output="screen">
<rosparam subst_value="true">
server: $(arg server)
port: 3883
update_frequency: 100.0
frame_id: world
use_server_time: false
broadcast_tf: true
refresh_tracker_frequency: 1.0
</rosparam>
<remap from="/vrpn_client_node/drone1/pose" to="drone1/mavros/vision_pose/pose" />
<remap from="/vrpn_client_node/drone2/pose" to="drone2/mavros/vision_pose/pose" />
<remap from="/vrpn_client_node/drone3/pose" to="drone3/mavros/vision_pose/pose" />
</node>
</launch>
gcs:
debug: false
launchFiles:
gcs.launch: |
<launch>
<arg name="traj_drone1" default="$(find bridge_px4)/trajectories/ysmrr1.csv"/>
<arg name="traj_drone2" default="$(find bridge_px4)/trajectories/ysmrr2.csv"/>
<arg name="traj_drone3" default="$(find bridge_px4)/trajectories/line.csv"/>
<group ns="drone1">
<node pkg="bridge_px4" type="sp_pos_t_node" name ="sp_pos_t_node" output="screen">
<param name="traj_id" value="$(arg traj_drone1)"/>
</node>
</group>
<group ns="drone2">
<node pkg="bridge_px4" type="sp_pos_t_node" name ="sp_pos_t_node" output="screen">
<param name="traj_id" value="$(arg traj_drone2)"/>
</node>
</group>
<group ns="drone3">
<node pkg="bridge_px4" type="sp_pos_t_node" name ="sp_pos_t_node" output="screen">
<param name="traj_id" value="$(arg traj_drone3)"/>
</node>
</group>
</launch>
trajectoryFiles:
square1.csv: |
2.00,3.00,6.00,9.00,12.00,15.00,18.00,21.00,24.00,27.00
1.00,1.00,1.00,1.00,3.00,3.00,3.00,3.00,1.00,1.00
-1.00,-1.00,1.00,1.00,1.00,1.00,-1.00,-1.00,-1.00,-1.00
1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00
0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00
square2.csv: |
2.00,3.00,6.00,9.00,12.00,15.00,18.00,21.00,24.00,27.00
-1.00,-1.00,-1.00,-1.00,-3.00,-3.00,-3.00,-3.00,-1.00,-1.00
1.00,1.00,-1.00,-1.00,-1.00,-1.00,1.00,1.00,1.00,1.00
1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00
0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00
ysmrr1.csv: |
2.00,3.00,4.00,5.00,6.00,6.50,7.00,7.50,8.00,8.50,9.00,9.50,10.00,15.00,20.00
1.00,1.00,3.00,3.00,3.00,3.00,3.00,3.00,3.00,3.00,3.00,3.00,3.00,1.00,1.00
0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00
1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50
0.00,0.00,0.00,0.00,0.00,0.40,0.80,1.20,1.60,2.00,2.40,2.80,3.20,3.20,3.20
ysmrr2.csv: |
2.00,3.00,4.00,5.00,6.00,6.50,7.00,7.50,8.00,8.50,9.00,9.50,10.00,15.00,20.00
-1.00,-1.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-3.00,-1.00,-1.00
0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00,0.00
1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50,1.50
0.00,0.00,0.00,0.00,0.00,0.40,0.80,1.20,1.60,2.00,2.40,2.80,3.20,3.20,3.20
line.csv: |
3.00,6.00,9.00
0.00,1.00,1.00
0.00,0.00,0.00
1.00,1.00,1.00
0.00,0.00,0.00
orbit.csv: |
3.00,7.00,8.10,9.20,10.30,11.40,12.50,13.60,14.70,15.80,16.90,18.00,21.00
0.00,-0.50,-0.21,0.54,1.46,2.21,2.50,2.21,1.46,0.54,-0.21,-0.50,-0.50
0.00,1.00,0.12,-0.43,-0.43,0.12,1.00,1.88,2.43,2.43,1.88,1.00,1.00
1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,1.00,0.00
0.00,0.00,0.63,1.26,1.88,2.51,3.14,3.77,4.40,5.03,5.65,6.28,6.28
droneNetListener:
port: 58080
networks:
hostNetwork: true
coredns:
deploy: true
serviceType: ClusterIP
service:
clusterIP: 10.67.128.12
servers:
- zones:
- zone: .
port: 53
plugins:
- name: errors
- name: health
configBlock: |-
lameduck 5s
- name: ready
- name: forward
parameters: . 10.67.128.10
- name: cache
parameters: 30
- name: loop
- name: reload
- name: loadbalance
- zones:
- zone: local
port: 53
plugins:
- name: errors
- name: health
configBlock: |-
lameduck 5s
- name: ready
- name: hosts
configBlock: |-
10.250.255.1 drone1.local
10.250.255.2 drone2.local
10.250.255.3 drone3.local
10.64.5.35 mocap.local
10.64.4.139 node2.local