Configuration Files¶
User specified Global Configurations¶
Example global configuration file
leader_pid: 1
mutex_handler: BaseMutexHandler
udp_bcast_ip: 127.255.255.255
udp_port: 61820
agents:
- pid: 0
on_device: drone0
motion_automaton: MoatTestDrone
- pid: 1
on_device: drone1
motion_automaton: MoatTestDrone
- pid: 2
on_device: drone2
motion_automaton: MoatTestDrone
- pid: 3
on_device: hotdec_car
motion_automaton: MoatTestCar
devices:
hotdec_car:
bot_type: CAR
ip: 127.0.1.0
ros_node_prefix: 'waypoint_node'
queue_size: 1
motion: &cym_moat_car # Set anchor for reusing
waypoint_topic:
topic: 'waypoint'
type: PoseStamped # geometry_msgs/PoseStamped
reached_topic:
topic: 'reached'
type: String # std_msgs/String
positioning_topic:
topic: '/vrpn_client_node/' # TODO '"/vrpn_client_node/" + vicon_obj + "/pose"'
type: PoseStamped # geometry_msgs/PoseStamped
planner: SimplePlanner
motion_automata: [MoatTestCar]
f1car:
bot_type: CAR
ip: 127.0.1.1
motion: *cym_moat_car # Reuse car motion configs
drone0:
bot_type: QUAD
ip: 127.0.2.0
motion: &cym_moat_drone # Set anchor for reusing
ros_node_prefix: 'waypoint_node'
queue_size: 1
waypoint_topic:
topic: 'waypoint'
type: PoseStamped # geometry_msgs/PoseStamped
reached_topic:
topic: 'reached'
type: String # std_msgs/String
positioning_topic:
topic: '/vrpn_client_node/' # TODO '"/vrpn_client_node/" + vicon_obj + "/pose"'
type: PoseStamped # geometry_msgs/PoseStamped
planner: SimplePlanner
motion_automata: [MoatTestDrone]
drone1:
bot_type: QUAD
ip: 127.0.2.1
motion: *cym_moat_drone # Reuse car motion configs
drone2:
bot_type: QUAD
ip: 127.0.2.2
motion: *cym_moat_drone
Auto-generated Agent Local Configurations¶
Example local configuration file for one of the agents.
agent:
motion_automaton: MoatTestDrone
on_device: drone1
pid: 1
device:
bot_name: drone1
bot_type: QUAD
ip: 127.0.2.1
motion_automata: [MoatTestDrone]
planner: SimplePlanner
port: 61820
positioning_topic: {topic: /vrpn_client_node/, type: PoseStamped}
queue_size: 1
reached_topic: {topic: reached, type: String}
ros_node_prefix: drone1/waypoint_node
waypoint_topic: {topic: waypoint, type: PoseStamped}
leader_pid: 1
mutex_handler: BaseMutexHandler
num_agents: 4
udp_bcast_ip: 127.255.255.255
udp_port: 61820
Todo
Include usage of gen_local_config script to generate a local config from the global config