Adding example tmux sessions

README.md

@@ -15,6 +15,10 @@ This repository includes Core ROS examples for the [MRS UAV System](https://gith
 ## Python
 
 * [sweeping_generator](./python/sweeping_generator) - Minimalistic Python Example that generates sweeping path for the UAV
+
+## tmux
+
+* [passthrough_estimator](./tmux/passthrough_estimator) - tmux simulation session that shows how to run the simulation with passthrough estimator
 
 # Disclaimer
 

tmux/passthrough_estimator/config/custom_config.yaml

@@ -0,0 +1,71 @@
+mrs_uav_managers:
+
+  estimation_manager:
+
+    # loaded state estimator plugins
+    state_estimators: [
+      "passthrough",
+    ]
+
+    initial_state_estimator: "passthrough" # will be used as the first state estimator
+    agl_height_estimator: "" # only slightly filtered height for checking min height (not used in control feedback)
+
+    passthrough:
+      max_flight_z: 100.0 # [m] maximum allowed flight Z (in the estimator frame)
+      kickoff: false # do not wait until desired Hz is achieved (set to true if kickoff estimator is used)
+      message:
+        topic: "hw_api/odometry"
+
+  uav_manager:
+
+    takeoff:
+
+      during_takeoff:
+        controller: "MpcController"
+        tracker: "LandoffTracker"
+
+      after_takeoff:
+        controller: "MpcController" # more robust
+        # controller: "Se3Controller" # more precise
+        tracker: "MpcTracker"
+
+  constraint_manager:
+
+    estimator_types: [
+      "passthrough"
+    ]
+
+    constraints: [
+      "slow",
+      "medium",
+      "fast"
+    ]
+
+    # list of allowed gains per odometry mode
+    allowed_constraints:
+      passthrough: ["slow", "medium", "fast"]
+
+    # those gains will be used automatically when a localization mode switches
+    # and the current gains are not in the allowed list (next paragraphs)
+    default_constraints:
+      passthrough: "slow"
+
+  gain_manager:
+
+    estimator_types: [
+      "passthrough"
+    ]
+
+    gains: [
+      "soft"
+    ]
+
+    # list of allowed gains per odometry mode
+    allowed_gains:
+      passthrough: ["soft"]
+
+    # those gains will be used automatically when a localization mode switches
+    # and the current gains are not in the allowed list (next paragraphs)
+    default_gains:
+      passthrough: "soft"
+

tmux/passthrough_estimator/config/network_config.yaml

@@ -0,0 +1,15 @@
+# 1. This list is used by NimbroNetwork for mutual communication of the UAVs
+#    The names of the robots have to match hostnames described in /etc/hosts.
+#
+# 2. This list is used by MpcTracker for mutual collision avoidance of the UAVs.
+#    The names should match the true "UAV_NAMES" (the topic prefixes).
+#
+#     network_config:=~/config/network_config.yaml
+#
+#    to the core.launch and nimbro.launch.
+
+network:
+
+  robot_names: [
+    uav1,
+  ]