Change utils folder, fix mocap and update authors

AUTHORS

@@ -1,4 +1,5 @@
 Rafael Pérez Seguí
 Miguel Fernández Cortizas
 Pedro Arias Pérez
-David Pérez Saura
+David Pérez Saura
+Javier Melero Deza

launch_as2.bash

@@ -72,28 +72,27 @@ done
 
 for ns in "${drone_ns[@]}"
 do
-  if [[ ${ns} == ${drone_ns[0]} ]]; then
-    base_launch="true"
-  else
-    base_launch="false"
-  fi 
-
-  tmuxinator start -n ${ns} -p utils/session.yml drone_namespace=${ns} gps=${gps} simulation=${simulated} estimator_plugin=${estimator_plugin} &
+  tmuxinator start -n ${ns} -p tmuxinator/session.yml drone_namespace=${ns} gps=${gps} simulation=${simulated} estimator_plugin=${estimator_plugin} &
   wait
 done
 
+if [[ ${estimator_plugin} == "mocap_pose" ]]; then
+  tmuxinator start -n mocap -p tmuxinator/mocap.yml &
+  wait
+fi
+
 if [[ ${record_rosbag} == "true" ]]; then
-  tmuxinator start -n rosbag -p utils/rosbag.yml drone_namespace=$(list_to_string "${drone_ns[@]}") &
+  tmuxinator start -n rosbag -p tmuxinator/rosbag.yml drone_namespace=$(list_to_string "${drone_ns[@]}") &
   wait
 fi
 
 if [[ ${launch_keyboard_teleop} == "true" ]]; then
-  tmuxinator start -n keyboard_teleop -p utils/keyboard_teleop.yml simulation=true drone_namespace=$(list_to_string "${drone_ns[@]}") &
+  tmuxinator start -n keyboard_teleop -p tmuxinator/keyboard_teleop.yml simulation=true drone_namespace=$(list_to_string "${drone_ns[@]}") &
   wait
 fi
 
 if [[ ${simulated} == "true" ]]; then
-  tmuxinator start -n gazebo -p utils/gazebo.yml simulation_config=${simulation_config} &
+  tmuxinator start -n gazebo -p tmuxinator/gazebo.yml simulation_config=${simulation_config} &
   wait
 fi
 

mission.py

@@ -28,8 +28,10 @@ def drone_run(drone_interface: DroneInterface, simulation=False):
 
     ##### ARM OFFBOARD #####
     if simulation:
+        print("Arm")
         drone_interface.offboard()
         sleep(sleep_time)
+        print("Offboard")
         drone_interface.arm()
         sleep(sleep_time)
 

real_config/state_estimator_mocap.yaml

@@ -1,2 +1,3 @@
 /**:
   ros__parameters:
+    none: false

stop.bash

@@ -18,8 +18,20 @@ if [[ -n "$TMUX" ]]; then
   current_session=$(tmux display-message -p '#S')
 fi
 
-# Kill gazebo
-pkill -9 -f "gzclient" < /dev/null
+# Send Ctrl+C signal to each window of each session
+for session in "${tmux_session_list[@]}"; do
+  # Check if session exists
+  if tmux has-session -t "$session" 2>/dev/null; then
+    # Get the list of windows in the session
+    windows=($(tmux list-windows -t "$session" -F "#{window_index}"))
+    # Iterate through each window and send Ctrl+C
+    for window in "${windows[@]}"; do
+      # Send Ctrl+C to the window
+      tmux send-keys -t "$session:$window" C-c
+      sleep 0.1 # Add a small delay to allow the signal to be processed
+    done
+  fi
+done
 
 # Kill all tmux sessions from the list except for the current one
 for session in "${tmux_session_list[@]}"; do