def __init__(self):
self.robot_name = rospy.get_param('~name', "warty")
self.my_team_name = rospy.get_param('~team_name', 'Cyan') # Use one from ATAK which are colors
self.my_team_role = rospy.get_param('~team_role', 'Team Member') # Use one from ATAK
self.tak_ip = rospy.get_param('~tak_ip', '127.0.0.1')
self.tak_port = rospy.get_param('~tak_port', '8088') # Port for TCP un-encrypted connection
self.my_callsign = rospy.get_param('~callsign', 'default_callsign')
self.baselink_frame = rospy.get_param('~baselink_frame', 'base_link') # Base frame for the robot
self.map_frame = rospy.get_param('~map_frame', 'map') # The frame that the objects are located in
self.odom_topic = rospy.get_param('~odom_topic', 'map') # The frame that the objects are located in
self.my_uid = self.set_uid() # Unique ID for robot on TAK system
self.robot_msg_uid = rospy.get_param('~robot_msg_uid', 'warty1_goto') # ID used to figure out if this message belongs to this robot
self.zone='18T'
self.takmsg_tree = ''
self.vis_pub = rospy.Publisher("goal_marker", Marker, queue_size=10) # TODO add this back in as a debug ability
self.goal_pub = rospy.Publisher("goto_goal", PoseDescriptionStamped, queue_size=10)
self.path_pub = rospy.Publisher("atak_path", Path, queue_size=10)
rospy.Subscriber("object_location", PoseDescriptionArray, self.objects_location_cb)
rospy.Subscriber(self.odom_topic, Odometry, self.robot_location_cb)
rospy.loginfo("=== Attempting to lookup a transform from %s to %s" %('utm', self.baselink_frame))
self.tf1_listener = tf.TransformListener()
self.wait_for_transform()
# self.tf1_listener.waitForTransform('utm', self.baselink_frame, rospy.Time(0), rospy.Duration(35.0))
rospy.loginfo("=== Transform lookup succeeded")
rospy.loginfo("Started ATAK Bridge with the following:\n\t\tCallsign: %s\n\t\tUID: %s\n\t\tTeam name: %s"
%(self.my_callsign,self.my_uid,self.my_team_name))
self.takserver = takcot() #TODO add a timeout and exit condition
def iterate_and_send(points: list, waits: list, tak_server: str, tak_port: int,
cot_type: str, callsign: str, uid: str, cot_identity: str,
cot_dimension: str, cot_stale: int):
"""
Iterates through list of coordinate points and wait times and sends them to a TAKServer
Parameters
----------
points : list
list of coordinate points
waits : list
list of times in seconds to wait between locations
tak_server : str
the address of the target TAKServer
tak_port : int
the port for the target TAKServer
cot_type : str
cot type string e.g a-f-G-U-C
cot_identity : str
Cot identity e.g friend
cot_dimension : str
Cot dimension e.g land-unit
cot_stale : int
Time in minuets for the object to become stale in ATAK
callsign : str
the callsign of the object
uid : str
the uid for the object
"""
takserver = takcot()
takserver.open(tak_server, tak_port)
locator = 0
takserver.flush()
for location in points:
takserver.send(
mkcot.mkcot(cot_identity=str(cot_identity),
cot_stale=int(cot_stale),
cot_dimension=str(cot_dimension),
cot_typesuffix=str(cot_type),
cot_callsign=str(callsign),
cot_id=str(uid),
cot_lat=round(location[0], 5),
cot_lon=round(location[1], 5)))
takserver.flush()
try:
time.sleep(waits[locator])
except IndexError:
break
locator += 1
takserver.close()
def __init__(self):
self.robot_name = rospy.get_param('~name', "husky")
self.my_team_name = rospy.get_param(
'~team_name', 'Cyan') #Use one from ATAK which are colors
self.my_team_role = rospy.get_param('~team_role',
'Team Member') # Use one from ATAK
self.tak_ip = rospy.get_param('~tak_ip', '127.0.0.1')
self.tak_port = rospy.get_param('~tak_port', '8088')
self.baselink_frame = rospy.get_param('~baselink_frame', 'base_link')
self.global_frame = rospy.get_param('~global_frame', 'utm')
self.my_callsign = rospy.get_param('~callsign', 'default_callsign')
self.my_uid = self.set_uid()
self.zone = '18T'
self.takmsg_tree = ''
self.target_list = ["car", "Vehicle"]
self.tf1_listener = tf.TransformListener()
self.tf1_listener.waitForTransform(self.global_frame,
self.baselink_frame, rospy.Time(0),
rospy.Duration(35.0))
self.marker_topic = "/" + self.robot_name + "/atak/goal"
self.vis_pub = rospy.Publisher(self.marker_topic,
Marker,
queue_size=10)
#self.goal_topic="/"+self.robot_name+"/nav_goal/2d"
#self.uav_pub = rospy.Publisher(self.goal_topic, PoseStamped, queue_size=10)
self.goal_topic = "/" + self.robot_name + "/goto_region/goal"
self.grnd_pub = rospy.Publisher(self.goal_topic,
GotoRegionActionGoal,
queue_size=10)
rospy.Subscriber("/husky/worldmodel_rviz/object_markers", MarkerArray,
self.grnd_object_cb)
#rospy.Subscriber("/uav1/detection_localization/detections/out/local", Detection2DArray, self.object_location_cb)
rospy.loginfo(
"Started ATAK Bridge with the following:\n\t\tCallsign: %s\n\t\tUID: %s\n\t\tTeam name: %s\n\t\tGlobal Frame: %s"
% (self.my_callsign, self.my_uid, self.my_team_name,
self.global_frame))
self.takserver = takcot() #TODO add a timeout and exit condition
'Server? local is default, "FTS" or "DISCORD" uses those public servers: ')
if server == "FTS":
TAK_IP = os.getenv('TAK_IP', '204.48.30.216')
TAK_PORT = int(os.getenv('TAK_PORT', '8087'))
elif server == "DISCORD":
TAK_IP = os.getenv('TAK_IP', '128.199.70.11')
TAK_PORT = int(os.getenv('TAK_PORT', '48088'))
else:
# use the local server for default
TAK_IP = '172.16.30.30'
TAK_PORT = 8087
#-----------------------------------------------------------------------------------------
# substantiate the class
takserver = takcot()
# Now open server
print("Opening TAK Server")
testsock = takserver.open(TAK_IP, TAK_PORT)
#print("open return is:")
#print(testsock)
#connect_xml=cot_xml
print()
print("send a connect")
takserver.flush() # flush the xmls the server sends
#print(takserver.read()) # read all the server CoT's, will send last + the connct
# send the connect string, server does not echo
except:
logger.warning("users json load failed")
users = []
finally:
f.close()
except:
users = []
logger.warning("Users file open failed, resetting")
#print()
#-----------------------------------------------------------------------------------------
# substantiate the class
try:
takserver = takcot(logger=logger)
except:
logger.error("takcot class failed")
exit()
# Now open server
logger.debug("Opening TAK Server " + server +
"----------------------------------------------------")
try:
testsock = takserver.open(TAK_IP, TAK_PORT)
except:
logger.error("takserver open failed")
exit()
logger.debug("send a takserver connect")
try:
my_uid = str(socket.getfqdn()) + "-" + str(uuid.uuid1())[-12:] + '_echo'
my_team_name = rospy.get_param('~team_name', 'Default Team')
my_team_role = rospy.get_param('~team_role', 'Default Team Role')
tak_ip = rospy.get_param('~tak_ip', '10.13.0.10')
tak_port = rospy.get_param('~tak_port', '8088')
rospy.loginfo("my_callsign=%s, my_uid =%s, my_team_name =%s, my_uid =%s" %
(my_callsign, my_uid, my_team_name, my_team_role))
# Start ATAK client
rospy.loginfo(
"============ Node: %s is connecting to TAK Server ===============",
node_name)
rospy.loginfo(
"==== If the code appears to freeze at this point, then it is likely the server is not reachable ====="
)
takserver = takcot() #TODO add a timeout and exit condition
try:
tasksock = takserver.open(tak_ip, tak_port)
takserver.flush()
except:
rospy.logerr("Failed to connect to the TAK Server")
exit()
# Send a ping and check for answer
connect_xml = (mkcot.mkcot(cot_type="t",
cot_how="h-g-i-g-o",
cot_callsign=my_callsign,
cot_id=my_uid,
team_name=my_team_name,
team_role=my_team_role)).decode('utf-8')
my_xml = parseString(str(connect_xml.replace("\n", ""))).toprettyxml()