My branch

scripts/hintmux.sh

@@ -0,0 +1,78 @@
+#!/bin/bash
+
+SESSION="stonefish_sim"
+WS="$HOME/ros2_ws"
+
+
+# Kill old session if it exists
+tmux kill-session -t $SESSION 2>/dev/null
+
+# --- SIMULATION ---
+tmux new-session -d -s $SESSION -n sim
+
+#tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch stonefish_sim vortex_sim_launch.py scenario:=docking rendering_quality:=low scenario_config_override:=$HOME/ros2_ws/src/vortex-cv/mission/tacc/subsea_docking/subsea_docking_setup/config/sim_config.yaml" C-m
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch stonefish_sim vortex_sim_launch.py scenario:=tacc rendering_quality:=low scenario_config_override:=$HOME/ros2_ws/src/vortex-cv/mission/tacc/visual_inspection/visual_inspection_setup/config/sim_config.yaml" C-m
+
+# --- CONTROL ---
+tmux new-window -t $SESSION -n control
+
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch auv_setup dp_quat.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch keyboard_joy keyboard_joy_node.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch waypoint_manager waypoint_manager.launch.py" C-m
+
+# --- PERCEPTION ---
+tmux new-window -t $SESSION -n perception
+
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch visual_inspection_setup visual_inspection_fsm.launch.py" C-m
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch perception_setup ultralytics_valve_detection.launch.py" C-m
+
+# --- TOOLS ---
+tmux new-window -t $SESSION -n tools
+
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch foxglove_bridge foxglove_bridge_launch.xml" C-m
+
+
+
+# --- MISSION ---
+tmux new-window -t $SESSION -n mission
+
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch landmark_server landmark_server.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 run yasmin_viewer yasmin_viewer_node" C-m
+
+# --- Pipeline detectio ---
+tmux new-window -t $SESSION -n pipe_det
+
+tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_pipeline_image_endpoints image_endpoints.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_image_segmentation yolo_segmentation.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && source install/setup.bash && ros2 launch vortex_position_estimator position_estimator.launch.py" C-m
+
+
+# --- MISSION ---
+tmux new-window -t $SESSION -n gripper
+#tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_open_loop gripper_open_loop.launch.py" C-m
+
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_reference_filter gripper_reference_filter.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_controller gripper_controller.launch.py" C-m
+
+tmux split-window -h -t $SESSION
+tmux send-keys -t $SESSION "cd $WS && export ROS_DOMAIN_ID=42 && source install/setup.bash && ros2 launch gripper_sim_interface gripper_sim_interface.launch.py" C-m
+
+
+# Nice layout
+tmux select-layout tiled
+
+# Attach to session
+tmux attach-session -t $SESSION

stonefish_sim/config/default_config.yaml

@@ -1,3 +1,17 @@
 drone_position: "0.0 0.0 0.0"
 drone_orientation: "0.0 0.0 0.0"
 orca_orientation: "-1.57 0.0 0.0"
+
+water_jerlow: "0.20"
+
+docking_station_position: "0.0 7.5 4.0"
+docking_station_orientation: "1.57 0.0 1.57"
+pool_position: "0.0 3.0 -0.2"
+pool_orientation: "-1.57 0.0 0.0"
+
+seafloor_position: "0.0 0.0 3.0"
+seafloor_orientation: "1.57 0.0 0.0"
+pipeline_position: "1.85 0.0 5.65"
+pipeline_orientation: "-0.14 0.175 0.0"
+structure_position: "1.0 -18.0 8.1"
+structure_orientation: "-1.57 0.0 -1.57"

stonefish_sim/config/defaults/fls.yaml

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+fls_beams: "512"
+fls_bins: "500"
+fls_horizontal_fov: "120.0"
+fls_vertical_fov: "30.0"
+fls_range_min: "0.5"
+fls_range_max: "30.0"
+fls_gain: "1.1"
+fls_noise_multiplicative: "0.01"
+fls_noise_additive: "0.02"

stonefish_sim/config/docking_config.yaml

@@ -1,8 +1,18 @@
-drone_position: "0.0 7.5 0.0"
+drone_position: "0.0 0.0 0.0"
 drone_orientation: "0.0 0.0 0.0"
 orca_orientation: "-1.57 0.0 0.0"
 water_jerlow: "0.20"
 docking_station_position: "0.0 7.5 4.0"
 docking_station_orientation: "1.57 0.0 1.57"
 pool_position: "0.0 3.0 -0.2"
 pool_orientation: "-1.57 0.0 0.0"
+
+fls_beams: "512"
+fls_bins: "500"
+fls_horizontal_fov: "120.0"
+fls_vertical_fov: "30.0"
+fls_range_min: "0.5"
+fls_range_max: "25.0"
+fls_gain: "1.1"
+fls_noise_multiplicative: "0.01"
+fls_noise_additive: "0.02"