cambios simulador 3 personas, excepto el que ambas personas que acompañan al...

cambios simulador 3 personas, excepto el que ambas personas que acompañan al robot tengan en cuenta a la otra para no chocar.

launch/diff_platform_simulator3.launch

+<!-- -->
+<launch>
+
+  <node pkg ="iri_akp_tools_companion"
+        type="diff_platform_simulator"
+        name="$(optenv ROBOT dabo2)_platform_simulator"
+        output="screen">
+    <param name="robot" type="string" value="$(optenv ROBOT dabo2)" />
+    <remap from="~cmd_vel"
+            to="/$(optenv ROBOT dabo2)/segway/cmd_vel" />
+    <remap from="~odom"
+            to="/$(optenv ROBOT dabo2)/segway/odom" />
+  </node>
+
+</launch>

launch/fake_laser_gen3.launch

+<!-- -->
+<launch>
+
+  <node pkg ="iri_akp_tools_companion"
+      type="fake_laser_gen"
+      name="$(optenv ROBOT dabo2)_fake_laser_gen"
+      output="screen">
+    <param name="laser_mode" value="0" />
+    <remap from="~scan" to="/$(optenv ROBOT dabo2)/sensors/front_laser_scan"/>
+  </node>
+
+</launch>

launch/fake_localization3.launch

+<!-- -->
+<launch>
+
+  <group ns="$(optenv ROBOT dabo2)">
+
+    <node name="fake_localization3"
+          pkg ="fake_localization"
+          type="fake_localization"
+          respawn="false" >
+      <param name="odom_frame_id"   value="/$(optenv ROBOT dabo2)/odom" />
+      <param name="global_frame_id"   value="/map" />
+      <param name="base_frame_id"   value="/$(optenv ROBOT dabo2)/base_footprint" />
+      <!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
+      <param name="delta_x"   value="8.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=1.0 ; delta_yaw=0.0 -->
+      <param name="delta_y"   value="2.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
+      <param name="delta_yaw" value="1.57" /> <!-- GIRO ESQUINA robot como persona => delta_x=0.0 ;  delta_y=-15.0 ; delta_yaw=1.57 -->
+<!-- Normal position (estrechez mitad camino) = delta_x=1.0 ;  delta_y=0.5 ; delta_yaw=0.0 -->
+      <remap from="/odom" to="/$(optenv ROBOT dabo2)/segway/odom"/>
+      <remap from="base_pose_ground_truth" to="/$(optenv ROBOT dabo2)/segway/odom"/>
+    </node>
+
+  </group>
+
+</launch>

launch/map_server_local3.launch

+<!-- -->
+<launch>
+
+  <arg name="map" default="fme_open"/>
+
+  <!-- Map Server -->
+  <!-- published topics: /$(optenv ROBOT tibi)/map -->
+  <!-- subscribed topics: -->
+  <!-- service clients: -->
+  <!-- service servers: -->
+  <!-- action clients: -->
+  <!-- action servers: -->
+  <node name="$(optenv ROBOT dabo2)_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" />
+     <remap from="/map"
+              to="$(optenv ROBOT dabo2)/map"/>
+  </node>
+  
+</launch>