Work on development environmant

README.md

@@ -18,6 +18,14 @@ If you have a ROS machine already follow the following instructions:
 - [Prepare Existing ROS Computer](doc/prepare_ros_computer.md)
 - [Local ROS Installation and LRS Docker Modules](doc/local_ros_installation.md)
 
+The above links gove information how to setup and test basic functionality.
+
+For moer information how to integrate your code we have plit the
+informaion in different sub areas:
+
+- [Waraps Control](https://gitlab.liu.se/lrs/waraps_control)
+- [Waraps Motion Planning](https://gitlab.liu.se/lrs/waraps_motion_planning)
+- [Waraps Task Planning](https://gitlab.liu.se/lrs/waraps_task_planning)
 
 
 

doc/local_ros_installation.md

@@ -247,83 +247,6 @@ Flyto
 wexec rosrun lrs_tst tstcommand.py --fly -x 100 -y 100 -z 12 --speed 3 --exec __ns:=/dji0 --disp --op /dji0
 ```
 
-
-## Starting dji sim without controller
-
-To plug in your own controller djisim can be started without any controller:
-
-```bash
-wexec roslaunch lrs_launch djisimtst.launch dynamics:=true ns:=/dji0
-```
-
-The "state" is available on topics:
-- /dji0/world_position
-- /dji0/dji_sdk/gps_position
-
-The control is done on the topic:
-- /dji0/dji_sdk/flight_control_setpoint_generic
-
-and the control mode must be:
-- roll
-- pitch
-- thrust
-- yawrate
-
-
-## Compiling Simulator
-
-If you have access to the simulator repos you can compile it locally.
-
-Needed extra packages:
-```bash
-git clone git@gitlab.liu.se:lrs/lrs_basic.git
-git clone git@gitlab.liu.se:lrs/motion_models.git
-git clone git@gitlab.liu.se:lrs/nonlinearmpc.git
-git clone https://github.com/dji-sdk/Onboard-SDK-ROS.git
-cd Onboard-SDK-ROS
-git checkout 3.8
-```
-
-These packages are:
-- lrs_basic: Needed for som very basic functionality
-- motion_models: The actual dynamic simulator. The simulation code is in the header file.
-- nonlinearmpc: Basically a copy of the original ETH code for the trajector follower using model predictive control.
-- Onboard-SDK-ROS: The ROS API to dji. Need the basic sdk which is installed as described below.
-
-To update all repos do:
-```bash
-vcs-pull
-```
-vcs-pull is part of the package python3-vcstool
-
-Install the DJI SDK:
-```bash
-git clone https://github.com/dji-sdk/Onboard-SDK.git
-cd Onboard-SDK
-git checkout 3.8
-cd osd-core
-mkdir build
-cd build
-cmake ../
-make -j 4 djiosdk-core
-sudo make install djiosdk-core
-```
-
-## Running Simulator Locally
-
-### Start dji0 with simulator running from local repos
-
-On the local machine run:
-```bash
-roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true ns:=/dji0
-```
-
-In the docker run
-```bash
-wexec roslaunch lrs_launch djisimtst.launch simulator:=false ns:=/dji0
-```
-
-
 ## Flying with Gamepad
 
 For this case it is more convenient to runt the roscore on the local machine:
@@ -369,7 +292,7 @@ wexec roslaunch lrs_launch config.launch location:=granso no_airspace_booking:=t
 wexec roslaunch lrs_launch djisimtst.launch dynamics:=true publish_pose:=true mpc:=true inair:=true ns:=/dji0
 ```
 
-Start the joysick controller:
+Start the joystick controller:
 ```bash
 wexec rosrun lrs_dji_sim joypose.py __ns:=/dji0
 ```