Add mission planner for deployment

install_scripts/setup_brain.sh

@@ -30,4 +30,4 @@ cd ~/ws/
 source /opt/ros/noetic/setup.bash
 
 catkin build
-source ./devel/setup.bash
+source ./devel/setup.bash

launch_scripts/.tmux-conf

@@ -0,0 +1,3 @@
+set -g mouse on
+
+set-option -g default-shell /bin/bash

launch_scripts/launch_brain.sh

@@ -2,5 +2,5 @@
 nvidia-smi | grep 'python' | awk '{ print $5 }' | sudo xargs -n1 kill -9
 sleep 3
 source /home/praveen/ws1/devel/setup.bash
-export ROS_MASTER_URI=http://stretch-re1-1056:11311/
+export ROS_MASTER_URI=http://stretch-re1-1061:11311/
 roslaunch alfred_core perception_brain.launch

launch_scripts/launch_robot.sh

@@ -8,7 +8,7 @@
 # echo "set-option -g pane-border-status top" >> ~/.tmux.conf
 # echo "set -g pane-border-format '[#[fg=white]#{?pane_active,#[bold],} #P #T #[fg=default,nobold]]'" >> ~/.tmux.conf
 
-SESSION_NAME="Alfred Autonomy Stack!"
+SESSION_NAME="Alfred Deployment Stack!"
 
 if tmux has-session -t "$SESSION_NAME" >/dev/null 2>&1; then
     # If session exists, attach to it
@@ -17,32 +17,35 @@ else
     # Launch tmux session
     rosnode kill --all
     tmux new-session -d -s autonomy
+    tmux source-file ~/ws/launch_scripts/.tmux-conf
 
     #split window into 3x3 grid
-    tmux split-window -v
-    tmux split-window -v
-    tmux split-window -v
-    tmux select-pane -t 0
-    tmux split-window -h
+    tmux split-window -v            # splits into two windows vertically (top-bottom)
+    tmux split-window -v            # splits into three windows vertically
+    # tmux split-window -v
+    tmux select-pane -t 0           # selects pane 0
+    tmux split-window -h            # splits that into two windows horizontally (left-right)
     tmux select-pane -t 2
     tmux split-window -h
     tmux select-pane -t 4
     tmux split-window -h
-    tmux select-pane -t 6
-    tmux split-window -h
+    # tmux select-pane -t 6
 
 
-
+    # To kill session --> type "Ctrl + B, then Shift + :, then type kill-session"
     # Run commands in each pane (add sleeps to wait for roscore to start)
     # tmux send-keys -t 0 "roscore" C-m
-    tmux send-keys -t 0 "sleep 1 && roslaunch alfred_core driver.launch " C-m
-    tmux send-keys -t 1 "sleep 10 && roslaunch alfred_core perception_robot_tuned.launch" C-m
-    tmux send-keys -t 2 "sleep 20 && roslaunch alfred_navigation navigation_no_driver.launch" C-m
-    tmux send-keys -t 3 "sleep 23 && rosrun task_planner task_planner.py" C-m
-    tmux send-keys -t 4 "sleep 25 && roslaunch manipulation robot_manipulation.launch" C-m
-    tmux send-keys -t 5 "sleep 26 && roslaunch alfred_hri hri.launch" C-m
-    tmux send-keys -t 6 "sleep 23 && ssh praveen@alfredbrain 'bash -s < /home/praveen/ws1/launch_scripts/launch_brain.sh'" C-m
-    tmux send-keys -t 7 "htop" C-m
+    # tmux send-keys -t 6 "sleep 1 && roslaunch alfred_core driver.launch" C-m
+    # tmux send-keys -t 7 "sleep 1 && roslaunch alfred_core perception_robot_tuned.launch" C-m
+
+    tmux send-keys -t 0 "sleep 2 && roslaunch interface_manager interface_manager.launch " C-m
+    tmux send-keys -t 1 "sleep 4 && roslaunch mission_planner mission_planner.launch" C-m
+    tmux send-keys -t 2 "sleep 6 && roslaunch alfred_navigation navigation.launch" C-m
+    tmux send-keys -t 3 "sleep 18 && roslaunch manipulation robot_manipulation.launch" C-m
+    tmux send-keys -t 4 "sleep 21 && roslaunch telepresence telepresence_manager.launch" C-m
+    tmux send-keys -t 5 "htop" C-m
+
+    # tmux send-keys -t 1 "sleep 10 && roslaunch alfred_core perception_robot_tuned.launch" C-m
 
     # Attach to tmux session
     tmux attach-session -t autonomy

launch_scripts/old_launch_robot.sh

@@ -0,0 +1,49 @@
+#!/bin/bash
+
+# Automated running all hardware nodes
+# use bash command to make a file  ~/.tmux.conf and add lines to print pane name
+# if [ ! -f ~/.tmux.conf ]; then
+# add lines to tmux config to print pane name
+# touch ~/.tmux.conf
+# echo "set-option -g pane-border-status top" >> ~/.tmux.conf
+# echo "set -g pane-border-format '[#[fg=white]#{?pane_active,#[bold],} #P #T #[fg=default,nobold]]'" >> ~/.tmux.conf
+
+SESSION_NAME="Alfred Autonomy Stack!"
+
+if tmux has-session -t "$SESSION_NAME" >/dev/null 2>&1; then
+    # If session exists, attach to it
+    tmux attach-session -t "$SESSION_NAME"
+else
+    # Launch tmux session
+    rosnode kill --all
+    tmux new-session -d -s autonomy
+
+    #split window into 3x3 grid
+    tmux split-window -v
+    tmux split-window -v
+    tmux split-window -v
+    tmux select-pane -t 0
+    tmux split-window -h
+    tmux select-pane -t 2
+    tmux split-window -h
+    tmux select-pane -t 4
+    tmux split-window -h
+    tmux select-pane -t 6
+    tmux split-window -h
+
+
+
+    # Run commands in each pane (add sleeps to wait for roscore to start)
+    # tmux send-keys -t 0 "roscore" C-m
+    tmux send-keys -t 0 "sleep 1 && roslaunch alfred_core driver.launch " C-m
+    tmux send-keys -t 1 "sleep 10 && roslaunch alfred_core perception_robot_tuned.launch" C-m
+    tmux send-keys -t 2 "sleep 20 && roslaunch alfred_navigation navigation_no_driver.launch" C-m
+    tmux send-keys -t 3 "sleep 23 && rosrun task_planner task_planner.py" C-m
+    tmux send-keys -t 4 "sleep 25 && roslaunch manipulation robot_manipulation.launch" C-m
+    tmux send-keys -t 5 "sleep 26 && roslaunch alfred_hri hri.launch" C-m
+    tmux send-keys -t 6 "sleep 23 && ssh praveen@alfredbrain 'bash -s < /home/praveen/ws1/launch_scripts/launch_brain.sh'" C-m
+    tmux send-keys -t 7 "htop" C-m
+
+    # Attach to tmux session
+    tmux attach-session -t autonomy
+fi

src/common/alfred_core/launch/deployment_perception.launch

@@ -0,0 +1,83 @@
+<launch>
+
+     <!-- <arg name="rs_initial_preset" default="$(find alfred_core)/config/camera_configs/HighAccuracyPreset.json" doc="filepath to json defining a visual preset for the depth image" /> -->
+     <!-- <arg name="rs_initial_preset" default="$(find alfred_core)/config/camera_configs/DefaultPreset1.json" doc="filepath to json defining a visual preset for the depth image" /> -->
+     <!-- <arg name="rs_initial_preset" default="$(find alfred_core)/config/camera_configs/DefaultPreset2.json" doc="filepath to json defining a visual preset for the depth image" /> -->
+     <!-- <arg name="rs_initial_preset" default="$(find alfred_core)/config/camera_configs/HighDensityPreset.json" doc="filepath to json defining a visual preset for the depth image" /> -->
+     <!-- <arg name="rs_initial_preset" default="$(find alfred_core)/config/camera_configs/MidDensityPreset.json" doc="filepath to json defining a visual preset for the depth image" /> -->
+     <!-- <arg name="rs_initial_reset"  default="true" doc="whether to reset camera before streaming, useful if the camera got into a bad state in the last session" /> -->
+
+     <!-- REDUCE RATE AND USE NUC TIME -->
+     <!-- <node name="d435i_accel_correction" pkg="stretch_core" type="d435i_accel_correction" output="screen" />   -->
+     <include file="$(find image_shrink)/launch/image_shrinker.launch" />
+
+
+          <!-- REALSENSE D435i -->
+          <include file="$(find realsense2_camera)/launch/rs_rgbd.launch">
+          <arg name="infra_width" value="848"/>
+          <arg name="infra_height" value="480"/>
+          <arg name="depth_width" value="848"/>
+          <arg name="depth_height" value="480"/>
+          <arg name="color_width" value="1280"/>
+          <arg name="color_height" value="720"/>
+          <!-- "The D435i depth camera generates and transmits the gyro and
+               accelerometer samples independently, as the inertial sensors
+               exhibit different FPS rates (200/400Hz for gyro, 63/250Hz for
+               accelerometer)."
+               https://realsense.intel.com/how-to-getting-imu-data-from-d435i-and-t265/
+               https://github.com/intel-ros/realsense
+               -->
+          <arg name="accel_fps" value="100"/>
+          <arg name="gyro_fps" value="200"/>
+
+          <arg name="enable_infra1" value="true"/>
+          <arg name="enable_infra2" value="true"/>
+          <arg name="enable_accel" value="true"/>
+          <arg name="enable_color" value="true"/>
+          <arg name="enable_depth" value="true"/>
+
+
+
+          <arg name="color_fps" value="15"/>
+          <arg name="depth_fps" value="15"/>
+          <arg name="infra_fps" value="15"/>
+
+          <!-- publish depth streams aligned to other streams -->
+          <arg name="align_depth" value="true"/>
+
+          <!-- publish an RGBD point cloud -->
+
+          <!-- "tf_prefix: By default all frame's ids have the same prefix -
+               camera_. This allows changing it per camera."
+               https://github.com/intel-ros/realsense -->
+
+          <!-- "enable_sync: gathers closest frames of different sensors,
+               infra red, color and depth, to be sent with the same
+               timetag. This happens automatically when such filters as
+               pointcloud are enabled."
+               https://github.com/intel-ros/realsense -->
+          <arg name="enable_sync" value="true"/>
+          <arg name="filters" value="spatial,pointcloud"/>
+
+
+          <!-- "You can have a full depth to pointcloud, coloring the
+               regions beyond the texture with zeros..." -->
+          <!-- Set to true in order to make use of the full field of view of
+               the depth image instead of being restricted to the field of
+               view associated with the narrower RGB camera. Note that
+               points out of the RGB camera's field of view will have their
+               colors set to 0,0,0. -->
+          <!-- <arg name="allow_no_texture_points" value="false"/> -->
+
+          <!-- "initial_reset: On occasions the device was not closed
+               properly and due to firmware issues needs to reset. If set to
+               true, the device will reset prior to usage."
+               https://github.com/intel-ros/realsense -->
+          <!-- <arg name="initial_reset" value="$(arg rs_initial_reset)"/> -->
+
+          <!--<arg name="unite_imu_method" value="copy"/> linear_interpolation-->
+
+          <!-- <arg name="json_file_path" value="$(arg rs_initial_preset)" /> -->
+     </include>
+
+</launch>

src/common/alfred_core/launch/driver.launch

@@ -3,7 +3,7 @@
   <param name="/alfred_driver/mode" type="string" value="navigation" />
   <param name="robot_description" textfile="$(find alfred_core)/config/stretch.urdf" />
   <arg name="calibrated_controller_yaml_file" value="$(find alfred_core)/config/controller_calibration_head.yaml"/>
-
+  
   <node
       name="joint_state_publisher"
       pkg="joint_state_publisher"

src/common/alfred_core/launch/subsystems/real/perception_robot_tuned.launch

@@ -9,6 +9,7 @@
 
      <!-- REDUCE RATE AND USE NUC TIME -->
      <!-- <node name="d435i_accel_correction" pkg="stretch_core" type="d435i_accel_correction" output="screen" /> -->  
+     <include file="$(find pcd_pub)/launch/low_res_pcd_pub.launch" />
      <include file="$(find image_shrink)/launch/image_shrinker.launch" />
 
 
@@ -58,8 +59,7 @@
                https://github.com/intel-ros/realsense -->
           <arg name="enable_sync" value="true"/>
           <arg name="filters" value="spatial,pointcloud"/>
-
-
+          <!-- <arg name="enable_pointcloud"         default="true"/> -->
           <!-- "You can have a full depth to pointcloud, coloring the
                regions beyond the texture with zeros..." -->
           <!-- Set to true in order to make use of the full field of view of