diff --git a/launch/fake_localization.launch b/launch/fake_localization.launch index 42e68ed772766a6e768b5aabab3cf3a20d062ef8..bd8fedc4d144b9004edc3bccc5c4fb8bd86ccb54 100644 --- a/launch/fake_localization.launch +++ b/launch/fake_localization.launch @@ -11,9 +11,9 @@ <param name="global_frame_id" value="/map" /> <param name="base_frame_id" value="/$(optenv ROBOT tibi)/base_footprint" /> <!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 --> - <param name="delta_x" value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=2.0 ; delta_yaw=0.0 --> - <param name="delta_y" value="1.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-15.0 ; delta_yaw=1.57 --> - <param name="delta_yaw" value="0.0" /> <!-- Normal position2_act_ultima (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.5 ; delta_yaw=0.0 --> + <param name="delta_x" value="-15.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=2.0 ; delta_yaw=0.0 ANTES LEARNING= 1.0--> + <param name="delta_y" value="0.0" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-15.0 ; delta_yaw=1.57 ANTES LEARNING= 1.5--> + <param name="delta_yaw" value="3.14" /> <!-- Normal position2_act_ultima (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.5 ; delta_yaw=0.0 ANTES LEARNING= 0.0--> <remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/> <remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/> </node> diff --git a/launch/fake_localization2.launch b/launch/fake_localization2.launch index f641e879e147e0f1787912a44c6a0c2b77a72d37..6c58bf3b767c3e76f2963d92cf215b3ebc5455a7 100644 --- a/launch/fake_localization2.launch +++ b/launch/fake_localization2.launch @@ -11,9 +11,9 @@ <param name="global_frame_id" value="/map" /> <param name="base_frame_id" value="/$(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="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.0 ; delta_yaw=0.0 --> - <param name="delta_y" value="0.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ; delta_y=-15.0 ; delta_yaw=1.57 --> - <param name="delta_yaw" value="0.0" /> <!-- GIRO ESQUINA robot como persona => delta_x=0.0 ; delta_y=-15.0 ; delta_yaw=1.57 --> + <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 --> + <param name="delta_yaw" value="1.57" /> <!-- GIRO ESQUINA robot como persona => delta_x=0.0 ; delta_y=-15.0 ; delta_yaw=1.57 --> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=0.5 ; delta_yaw=0.0 --> <remap from="/odom" to="/$(optenv ROBOT dabo)/segway/odom"/> <remap from="base_pose_ground_truth" to="/$(optenv ROBOT dabo)/segway/odom"/> diff --git a/src/fake_laser_gen_alg_node.cpp b/src/fake_laser_gen_alg_node.cpp index 1cb6116473aeb95f51fbf195330d2f9ee6375416..9d166786d91cfc30d9f44945796edf79e42ed713 100644 --- a/src/fake_laser_gen_alg_node.cpp +++ b/src/fake_laser_gen_alg_node.cpp @@ -89,7 +89,7 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level) LaserScan_msg_.ranges.resize(1436,59.9); //laser_mode_=FakeLaserGenAlgNode::n_obstacles5; //caso estrechez en medio del camino. Muy estrecho! //laser_mode_=FakeLaserGenAlgNode::n_obstacles3; //caso estrechez en medio del camino! obstaculos a 2.2305 m entre ellos va con empty_map_whit_obstacles1 - //laser_mode_=FakeLaserGenAlgNode::n_obstacles7; // [ultimo que estaba usando BUENO, datos paper robot2017] caso estrechez en medio del camino! caso obstaculos a 1.94 m entre ellos. va con empty_map_whit_obstacles2 + laser_mode_=FakeLaserGenAlgNode::n_obstacles7; // [ultimo que estaba usando BUENO, datos paper robot2017] caso estrechez en medio del camino! caso obstaculos a 1.94 m entre ellos. va con empty_map_whit_obstacles2 // laser_mode_=FakeLaserGenAlgNode::n_obstacles7_robot2017_videos; //laser_mode_=FakeLaserGenAlgNode::n_obstacles8; // [ultimo que estaba usando BUENO] caso estrechez en medio del camino! caso obstaculos a 1.4965 m entre ellos. va con empty_map_whit_obstacles2 //laser_mode_=FakeLaserGenAlgNode::n_obstacles6; //caso estrechez en medio del camino! @@ -341,22 +341,25 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level) //LaserScan_msg_.ranges[100]= 7.0; //LaserScan_msg_.ranges[100+40]= 7.0; - // LaserScan_msg_.ranges[340]= 7.0; - //LaserScan_msg_.ranges[340+40]= 7.0; - // LaserScan_msg_.ranges[660]= 13.25; - // LaserScan_msg_.ranges[680-20]= 13.0; - //LaserScan_msg_.ranges[680-15]= 13.25; + //LaserScan_msg_.ranges[680-35]= 13.45; + // LaserScan_msg_.ranges[680-30]= 13.45; + // LaserScan_msg_.ranges[680-25]= 13.40; + LaserScan_msg_.ranges[680-20]= 13.30; + LaserScan_msg_.ranges[680-15]= 13.25; LaserScan_msg_.ranges[680-10]= 13.25; LaserScan_msg_.ranges[680-5]= 13.15; LaserScan_msg_.ranges[680]= 13.15; LaserScan_msg_.ranges[680+5]= 13.0; - LaserScan_msg_.ranges[730]= 13.0; - LaserScan_msg_.ranges[730+5]= 13.15; - LaserScan_msg_.ranges[730+10]= 13.15; + // LaserScan_msg_.ranges[730]= 13.0; + // LaserScan_msg_.ranges[730+5]= 13.15; + // LaserScan_msg_.ranges[730+10]= 13.15; LaserScan_msg_.ranges[730+15]= 13.15; - //LaserScan_msg_.ranges[730+15]= 13.15; - //LaserScan_msg_.ranges[730+20]= 13.15; - //LaserScan_msg_.ranges[1300+18]= 7.0; + LaserScan_msg_.ranges[730+20]= 13.20; + LaserScan_msg_.ranges[730+25]= 13.20; + LaserScan_msg_.ranges[730+30]= 13.25; + LaserScan_msg_.ranges[730+35]= 13.25; + LaserScan_msg_.ranges[730+40]= 13.30; + LaserScan_msg_.ranges[730+45]= 13.30; } break;