From ad742c48722f8cb50d22901a8e1316fc7bc576e3 Mon Sep 17 00:00:00 2001 From: Ely Repiso Polo <erepiso@iri.upc.edu> Date: Fri, 6 Apr 2018 08:43:06 +0000 Subject: [PATCH] =?UTF-8?q?cambios=20simulador=203=20personas,=20excepto?= =?UTF-8?q?=20el=20que=20ambas=20personas=20que=20acompa=C3=B1an=20al=20ro?= =?UTF-8?q?bot=20tengan=20en=20cuenta=20a=20la=20otra=20para=20no=20chocar?= =?UTF-8?q?.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- launch/diff_platform_simulator3.launch | 15 +++++++++++++++ launch/fake_laser_gen3.launch | 12 ++++++++++++ launch/fake_localization3.launch | 24 ++++++++++++++++++++++++ launch/map_server_local3.launch | 22 ++++++++++++++++++++++ 4 files changed, 73 insertions(+) create mode 100644 launch/diff_platform_simulator3.launch create mode 100644 launch/fake_laser_gen3.launch create mode 100644 launch/fake_localization3.launch create mode 100644 launch/map_server_local3.launch diff --git a/launch/diff_platform_simulator3.launch b/launch/diff_platform_simulator3.launch new file mode 100644 index 0000000..07ff1f4 --- /dev/null +++ b/launch/diff_platform_simulator3.launch @@ -0,0 +1,15 @@ +<!-- --> +<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> diff --git a/launch/fake_laser_gen3.launch b/launch/fake_laser_gen3.launch new file mode 100644 index 0000000..17679bb --- /dev/null +++ b/launch/fake_laser_gen3.launch @@ -0,0 +1,12 @@ +<!-- --> +<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> diff --git a/launch/fake_localization3.launch b/launch/fake_localization3.launch new file mode 100644 index 0000000..e7c5dc2 --- /dev/null +++ b/launch/fake_localization3.launch @@ -0,0 +1,24 @@ +<!-- --> +<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="/$(optenv ROBOT dabo2)/segway/odom"/> + </node> + + </group> + +</launch> diff --git a/launch/map_server_local3.launch b/launch/map_server_local3.launch new file mode 100644 index 0000000..82989d0 --- /dev/null +++ b/launch/map_server_local3.launch @@ -0,0 +1,22 @@ +<!-- --> +<launch> + + <arg name="map" default="fme_open"/> + + <!-- Map Server --> + <!-- published topics: /$(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> -- GitLab