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Commit 337c224b authored by Ely Repiso Polo's avatar Ely Repiso Polo
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cambios para que vaya el iterative simulation

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cfg/FakeLaserGen.cfg
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View file @ 337c224b
......@@ -39,6 +39,6 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
gen.add("laser_mode", int_t, 0, "#0-circle, #1-Single obstacle #2-Two obstacles, #3-multiple obstacles, #4-multiple obstacles2, #5-scene, #6-scene_2 , #7-corrido_obstacles_companion_2_paths, #8-corrido_obstacles_companion_3_paths, #9-corridor_obstacles_which_narrows_companion_1_paths, #n_obstacles3, #n_obstacles4", 0, 0, 11)
gen.add("laser_mode", int_t, 0, "#0-circle, #1-Single obstacle #2-Two obstacles, #3-multiple obstacles, #4-multiple obstacles2, #5-scene, #6-scene_2 , #7-corrido_obstacles_companion_2_paths, #8-corrido_obstacles_companion_3_paths, #9-corridor_obstacles_which_narrows_companion_1_paths, #n_obstacles3, #n_obstacles4", 0, 0, 30)
exit(gen.generate(PACKAGE, "FakeLaserGenAlgorithm", "FakeLaserGen"))
launch/diff_platform_simulator.launch
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......@@ -3,7 +3,7 @@
<node pkg ="iri_akp_tools_companion"
type="diff_platform_simulator"
name="$(optenv ROBOT tibi)_platform_simulator"
name="tibi_platform_simulator"
output="screen">
<param name="robot" type="string" value="$(optenv ROBOT tibi)" />
<remap from="~cmd_vel"
......
launch/fake_laser_gen.launch
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......@@ -3,7 +3,7 @@
<node pkg ="iri_akp_tools_companion"
type="fake_laser_gen"
name="$(optenv ROBOT tibi)_fake_laser_gen"
name="tibi_fake_laser_gen"
output="screen">
<param name="laser_mode" value="0" />
<remap from="~scan" to="/$(optenv ROBOT tibi)/sensors/front_laser_scan"/>
......
launch/fake_localization.launch
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......@@ -7,9 +7,9 @@
pkg ="fake_localization"
type="fake_localization"
respawn="false" >
<param name="odom_frame_id" value="/$(optenv ROBOT tibi)/odom" />
<param name="global_frame_id" value="/map" />
<param name="base_frame_id" value="/$(optenv ROBOT tibi)/base_footprint" />
<param name="odom_frame_id" value="$(optenv ROBOT tibi)/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="$(optenv ROBOT tibi)/base_footprint" />
<!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
<param name="delta_x" value="8.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=2.0 ; delta_yaw=0.0 ANTES LEARNING= 1.0 paralearning= -15.0-->
<param name="delta_y" value="1.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-15.0 ; delta_yaw=1.57 ANTES LEARNING= 1.5 paralearning= 0.0-->
......
launch/fake_localization2.launch
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......@@ -7,9 +7,9 @@
pkg ="fake_localization"
type="fake_localization"
respawn="false" >
<param name="odom_frame_id" value="/$(optenv ROBOT dabo)/odom" />
<param name="global_frame_id" value="/map" />
<param name="base_frame_id" value="/$(optenv ROBOT dabo)/base_footprint" />
<param name="odom_frame_id" value="$(optenv ROBOT dabo)/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="$(optenv ROBOT dabo)/base_footprint" />
<!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
<param name="delta_x" value="8.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.0 ; delta_yaw=0.0 -->
<param name="delta_y" value="0.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ; delta_y=-15.0 ; delta_yaw=1.57 -->
......
launch/fake_localization3.launch
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......@@ -7,9 +7,9 @@
pkg ="fake_localization"
type="fake_localization"
respawn="false" >
<param name="odom_frame_id" value="/$(optenv ROBOT dabo2)/odom" />
<param name="global_frame_id" value="/map" />
<param name="base_frame_id" value="/$(optenv ROBOT dabo2)/base_footprint" />
<param name="odom_frame_id" value="$(optenv ROBOT dabo2)/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="$(optenv ROBOT dabo2)/base_footprint" />
<!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
<param name="delta_x" value="8.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.0 ; delta_yaw=0.0 -->
<param name="delta_y" value="2.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ; delta_y=-15.0 ; delta_yaw=1.57 -->
......
launch/map_server.launch
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......@@ -17,7 +17,7 @@
type="map_server"
machine="nav"
args="$(find iri_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="/map" />
<param name="frame_id" value="map" />
<remap from="/map"
to="$(optenv ROBOT tibi)/map"/>
</node>
......
launch/map_server_local.launch
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......@@ -13,8 +13,8 @@
<node name="$(optenv ROBOT tibi)_map_server"
pkg ="map_server"
type="map_server"
args="$(find iri_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="/map" />
args="$(find iri_atr_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="map" />
<remap from="/map"
to="$(optenv ROBOT tibi)/map"/>
</node>
......
launch/map_server_local2.launch
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......@@ -10,11 +10,11 @@
<!-- service servers: -->
<!-- action clients: -->
<!-- action servers: -->
<node name="dabo_map_server"
<node name="$(optenv ROBOT dabo)_map_server"
pkg ="map_server"
type="map_server"
args="$(find iri_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="/map" />
args="$(find iri_atr_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="map" />
<remap from="/map"
to="dabo/map"/>
</node>
......
launch/map_server_local3.launch
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......@@ -14,7 +14,7 @@
pkg ="map_server"
type="map_server"
args="$(find iri_akp_local_planner_companion)/maps/$(arg map).yaml">
<param name="frame_id" value="/map" />
<param name="frame_id" value="map" />
<remap from="/map"
to="$(optenv ROBOT dabo2)/map"/>
</node>
......
src/diff_platform_simulator_alg_node.cpp
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......@@ -4,14 +4,14 @@ DiffPlatformSimulatorAlgNode::DiffPlatformSimulatorAlgNode(void) :
algorithm_base::IriBaseAlgorithm<DiffPlatformSimulatorAlgorithm>()
{
//init class attributes if necessary
this->loop_rate_ = 50;//in [Hz]
setRate(50);// antes=> this->loop_rate_ = 50;//in [Hz]
//ROS_INFO("DiffPlatformSimulatorAlgNode:: this->tf_prefix_.c_str()=%s",this->tf_prefix_.c_str());
this->public_node_handle_.getParam("robot", this->tf_prefix_);
this->odom_id_ = "/" + this->tf_prefix_ + "/odom";
this->base_link_id_ = "/" + this->tf_prefix_ + "/base_link";
this->base_footprint_id_ = "/" + this->tf_prefix_ + "/base_footprint";
this->odom_id_ = this->tf_prefix_ + "/odom";
this->base_link_id_ = this->tf_prefix_ + "/base_link";
this->base_footprint_id_ = this->tf_prefix_ + "/base_footprint";
this->linearX = 0.0;
this->angularZ= 0.0;
......
src/fake_laser_gen_alg_node.cpp
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......@@ -59,7 +59,7 @@ void FakeLaserGenAlgNode::init()
float32[] ranges
*/
LaserScan_msg_.header.frame_id = "/map";
LaserScan_msg_.header.frame_id = "map";
LaserScan_msg_.angle_min = -2*1.56643295288;
LaserScan_msg_.angle_max = 2*1.56643295288;
LaserScan_msg_.angle_increment = 0.00436332309619;
......@@ -110,7 +110,8 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
//laser_mode_=FakeLaserGenAlgNode::n_obstacles10; //Caso obstaculo en el lateral derecho que lo evita bien el grupo (solo faltaria salir de un poco más atras) OK
//
laser_mode_=FakeLaserGenAlgNode::n_obstacles11; // nuevo caso puerta para el caso del companion de 2 personas.
//laser_mode_=FakeLaserGenAlgNode::n_obstacles11; //(CASO BUENO FINAL PUERTA 2021) nuevo caso puerta para el caso del companion de 2 personas.
// Escenarios approachign marta: n_obstacles_3_marta_approaching,n_obstacles_4_marta_approaching,n_obstacles_5_marta_approaching
......
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