From 20ab9b709a2f77a9982dbe58948879e5153e5525 Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommmy.persson@liu.se>
Date: Tue, 22 Sep 2020 14:20:23 +0200
Subject: [PATCH] Work on doc.

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+
+BIG ISSUE: wexec STARTED IN SCREEN DO NOT DIE WHEN SCREEN KILLED WITH C-o \ y
+
+Later you will use screen. Notice that the command key for screen is
+here C-o. The screen file are in: waraps/screen
+
+NOTICE: C-o \ do not kill the docker containers. If somebody find out
+how to solve this problem pleae let us know.
+
+
+
+## Screen Based Approach
+
+NOT ROBUST HANGING PROCESSES. Be aware of the possibility of hanging docker processes.
+
+### Loading configurtion launch files
+
+For each agent you have to load a configuration file and that have to
+be done before the screen for the agent is loaded. The arguments to
+the config.launch file is location and ns.
+
+Suppose we want to start unit /op0 and /dji0 in Gränsö then we do:
+
+```bash
+wexec roslaunch lrs_launch config.launch location:=granso ns:=/op0
+wexec roslaunch lrs_launch config.launch location:=granso ns:=/dji0
+```
+
+We are not setting kdb to trues since the repo lrs_kdb_base_knowledge is not available.
+
+
+### Start /op0 using a screen:
+
+```bash
+env NS=/op0 screen -c waraps/screen/screen_op
+```
+
+This will start the following scripts which starts docker containers:
+```bash
+wexec roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
+wexec roslaunch lrs_launch tst_part.launch ns:=${NS}
+wexec_system roslaunch lrs_launch exec_part.launch ns:=${NS}
+wexec roslaunch lrs_launch exec_exec.launch ns:=${NS}
+```
+
+### Start /dji0 simulation using a screen:
+
+```bash
+env NS=/dji0 screen -c waraps/screen/screen_djisim
+```
+
+This will start the following scripts which starts docker containers:
+```bash
+wexec roslaunch lrs_dji_sim sim.launch dynamics:=true mpc:=true inair:=false ns:=/dji0 basic:=false gazebo:=true
+wexec roslaunch lrs_launch lrsdji.launch publish_pose:=true ns:=${NS}
+wexec roslaunch lrs_launch wdb.launch vehicle:=op ns:=${NS}
+wexec roslaunch lrs_launch tst_part.launch ns:=${NS}
+wexec roslaunch lrs_launch exec_part.launch ns:=${NS}
+wexec roslaunch lrs_launch exec_exec.launch ns:=${NS}
+wexec roslaunch lrs_launch exec_vehicle.launch vehicle:=dji ns:=${NS}
+```
+
+### Test the two running screens
+
+On the local machine do:
+
+Watch the pose:
+```bash
+rostopic echo /dji0/pose
+```
+
+Takeoff
+```bash
+wexec rosrun lrs_tst tstcommand.py --takeoff --exec __ns:=/dji0
+```
+
+Flyto
+```bash
+wexec rosrun lrs_tst tstcommand.py --fly -x 100 -y 100 -z 12 --speed 3 --exec __ns:=/dji0
+```
+
+
-- 
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