mutac: Add planner Package.

Author: David Eugenio

README.md

@@ -1,20 +1,3 @@
 # multi_uav_test_area_coverage
-A multi UAV test platform for area coverage path planning algorithms.
-
-## Messages
-
-| Topic name | ROS message | Description |
-|----------|-------------|------|
-| planned_path | [mutac_msgs/PathIdentified](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/msg/PathIdentified.msg) | Path to follow by a drone |
-| drone_pose | [geometry_msgs/Pose](https://docs.ros.org/en/api/geometry_msgs/html/msg/Pose.html) | Current drone pose |
-| drone_twist | [geometry_msgs/Twist](https://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html) | Current drone twist |
-| cover_region | [mutac_msgs/RegionIdentified](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/msg/RegionIdentified.msg) | Region to be covered by a certain drone |
-| performance_metrics | [mutac_msgs/Metrics](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/msg/Metrics.msg) | Performance metrics used to monitor the mission  | 
-| event | [mutac_msgs/EventIdentified](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/msg/EventIdentified.msg) | Event raised by a drone during mission execution |
-| simulated_event | [mutac_msgs/EventIdentified](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/msg/EventIdentified.msg) | Event raised by external means during mission execution | 
 
-
-## Services
-| Service name | ROS service | Description |
-|----------|-------------|------|
-| split | [mutac_msgs/Split](https://github.com/cvar-upm/multi_uav_test_area_coverage/blob/main/mutac_msgs/srv/Split.srv) | Divides a region into subregions taking into account a specific context |
+A multi UAV test platform for area coverage path planning algorithms.

planner/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.15.0)
+
+project(planner VERSION 1.0.0)
+
+
+
+find_package(catkin
+    REQUIRED
+    COMPONENTS
+    mutac_msgs
+    roscpp
+)
+
+
+
+catkin_package(
+    CATKIN_DEPENDS
+    mutac_msgs
+    roscpp
+)
+
+
+
+add_subdirectory(src/multi_uav_planning_binpat)
+
+
+
+add_executable(planner src/main.cpp)
+
+add_dependencies(planner ${catkin_EXPORTED_TARGETS})
+
+target_include_directories(planner PRIVATE src ${catkin_INCLUDE_DIRS})
+
+target_link_libraries(planner planning_binpat ${catkin_LIBRARIES})

planner/launch/planner.launch

@@ -0,0 +1,3 @@
+<launch>
+  <node pkg="planner" type="planner" name="planner" ns="mutac" output="screen"/>
+</launch>

planner/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>planner</name>
+
+  <version>1.0.0</version>
+
+  <description>planner</description>
+
+  <maintainer email="[email protected]">David Eugenio</maintainer>
+
+  <license>BSD</license>
+
+  <author email="[email protected]">David Eugenio</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>mutac_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+
+  <exec_depend>mutac_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+</package>