diff --git a/cfg/FakeLaserGen.cfg b/cfg/FakeLaserGen.cfg
index 58d6496439d90cb3cd464ccabbe49e458974e373..30933455a19db28812a19a36bfe8cb6ac8b1e540 100755
--- a/cfg/FakeLaserGen.cfg
+++ b/cfg/FakeLaserGen.cfg
@@ -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"))
diff --git a/launch/diff_platform_simulator.launch b/launch/diff_platform_simulator.launch
index 4643c6037d7244898f87f4ecf343177277dd851e..aa4a413cd3b946c8c88b1807014854b38f1e3094 100644
--- a/launch/diff_platform_simulator.launch
+++ b/launch/diff_platform_simulator.launch
@@ -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"
diff --git a/launch/fake_laser_gen.launch b/launch/fake_laser_gen.launch
index 3ccc1fd2b0944ccc758ca19705d941976d31f91a..298e4e68d77f6124473fe5125366b8f643dd3640 100644
--- a/launch/fake_laser_gen.launch
+++ b/launch/fake_laser_gen.launch
@@ -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"/>
diff --git a/launch/fake_localization.launch b/launch/fake_localization.launch
index dc8fe38f77446852a35a2a680a8b6574243d6e65..f365d35ad6ebb4b1d4a2b707a81565a5a2cebee1 100644
--- a/launch/fake_localization.launch
+++ b/launch/fake_localization.launch
@@ -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-->
diff --git a/launch/fake_localization2.launch b/launch/fake_localization2.launch
index eb83f6513f43115c94c748555af6492bbcf6a347..ccdfd0e68f2cec570ed8371c9f0f830f15c27fe9 100644
--- a/launch/fake_localization2.launch
+++ b/launch/fake_localization2.launch
@@ -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 -->
diff --git a/launch/fake_localization3.launch b/launch/fake_localization3.launch
index 668d827b7b3fc705024f6e4ee8b2481af14d8782..427362bd856dcec09f96f3a49c7ecf69c61393e6 100644
--- a/launch/fake_localization3.launch
+++ b/launch/fake_localization3.launch
@@ -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 -->
diff --git a/launch/map_server.launch b/launch/map_server.launch
index 5d1dd85dfa4bfea3e58a287baec3db390117bf28..935f2fc592aeef7a82812594d5b81a4f16e9a3d9 100644
--- a/launch/map_server.launch
+++ b/launch/map_server.launch
@@ -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="$(optenv ROBOT tibi)/map"/>
</node>
diff --git a/launch/map_server_local.launch b/launch/map_server_local.launch
index c267885b174ad50e0183b01ef3bce39c5c6e801c..dfc05b9e6464a3ebf12800efb4a80952ff277a95 100644
--- a/launch/map_server_local.launch
+++ b/launch/map_server_local.launch
@@ -13,8 +13,8 @@
<node name="$(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="$(optenv ROBOT tibi)/map"/>
</node>
diff --git a/launch/map_server_local2.launch b/launch/map_server_local2.launch
index 1db420efab2bf42c8a4c61435bea9292d8b0e04c..141480f54f4ab53e130369fb3a24b26e4392ddef 100644
--- a/launch/map_server_local2.launch
+++ b/launch/map_server_local2.launch
@@ -10,11 +10,11 @@
<!-- service servers: -->
<!-- action clients: -->
<!-- action servers: -->
- <node name="dabo_map_server"
+ <node name="$(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>
diff --git a/launch/map_server_local3.launch b/launch/map_server_local3.launch
index 82989d09a7ddd17cd7f2ac6caa6b88ea823abb84..2d8f36930d1687730d59f0f52b3d6bd2ce7220fb 100644
--- a/launch/map_server_local3.launch
+++ b/launch/map_server_local3.launch
@@ -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>
diff --git a/src/diff_platform_simulator_alg_node.cpp b/src/diff_platform_simulator_alg_node.cpp
index 0ad83bba349898d7af712eb130a806b88f7125a2..27da2b4c9aca826b50069bf367786b5a8a36710b 100644
--- a/src/diff_platform_simulator_alg_node.cpp
+++ b/src/diff_platform_simulator_alg_node.cpp
@@ -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;
diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp
index 796b08294cfdfb7a82c32ae8bd3ec45e7a9703d9..0df22f8f0dfe534641f41864ffb9b4d06fee5a8c 100644
--- a/src/fake_laser_gen_alg_node.cpp
+++ b/src/fake_laser_gen_alg_node.cpp
@@ -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