ROS messages

rosmessages.py

# Subscribe from multisim node
measurement_sub = rospy.Subscriber('crazyflie'+str(i_agent)+'/measurement',PointStamped,self.measurement_cb,i_agent) # measurement for GP
env_target_sub = rospy.Subscriber('env/target_locations',Float32MultiArray,self.env_target_cb) # target position
env_obstacle_sub = rospy.Subscriber('env/obstacle_locations',Float32MultiArray,self.env_obstacle_cb) # obstacle position
position_sub = [[rospy.Subscriber('crazyflie'+str(i)+'/kalman/position',PointStamped, self.position_cb,i)] for i in range(num_agents)] # agent position

# Publish to multisim node(?)
self.position_sp_pub = [[rospy.Publisher('crazyflie'+str(i)+'/cmd_position', TwistStamped, queue_size=10)] for i in range(num_agents)] # desired position

# Service from gcs
start_srv = rospy.Service('gcs/server/planner_toggle', Trigger, self.gcs_cb) # Service server
self.server_stop_client= rospy.ServiceProxy('server/gcs/planner_toggle', Trigger) # Service client

## Unknown
self.measurement_pub = [[rospy.Publisher('planner'+str(i)+'/measurement', PointStamped, queue_size=10)] for i in range(num_agents)] # server.py

## Discard
position_sp_sub = [[rospy.Subscriber('planner'+str(i)+'/cmd_position',TwistStamped, self.position_sp_cb,i)] for i in range(num_agents)] # server.py
self.pos_sp_pub = rospy.Publisher('planner'+str(i_agent)+'/cmd_position',TwistStamped,queue_size=10) # planner.py
start_srv = rospy.Service('server/planner'+str(i_agent)+'/start',Trigger,self.start_cb) # planner.py
stop_srv = rospy.Service('server/planner'+str(i_agent)+'/stop',Empty,self.stop_cb) # planner.py
self.planner_start_client = [[rospy.ServiceProxy('server/planner'+str(i)+'/start', Trigger)] for i in range(num_agents)] # server.py
self.planner_stop_client = [[rospy.ServiceProxy('server/planner'+str(i)+'/stop', Empty)] for i in range(num_agents)] # server.py
pub = rospy.Publisher('chatter', String, queue_size=10) # server.py