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Commit dcb3382b authored by Ely Repiso Polo's avatar Ely Repiso Polo
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include/fake_laser_gen_alg_node.h
+ 1
− 1
View file @ dcb3382b
......@@ -41,7 +41,7 @@
*/
class FakeLaserGenAlgNode : public algorithm_base::IriBaseAlgorithm<FakeLaserGenAlgorithm>
{
enum laser_mode{Zero=0, one_obstacle, two_obstacles, n_obstacles, n_obstacles_2, scene, scene_2,corrido_obstacles_companion_2_paths,corrido_obstacles_companion_3_paths,corridor_obstacles_which_narrows_companion_1_paths, n_obstacles3, n_obstacles4, scene_3, scene_4, n_obstacles5, n_obstacles6};
enum laser_mode{Zero=0, one_obstacle, two_obstacles, n_obstacles, n_obstacles_2, scene, scene_2,corrido_obstacles_companion_2_paths,corrido_obstacles_companion_3_paths,corridor_obstacles_which_narrows_companion_1_paths, n_obstacles3, n_obstacles4, scene_3, scene_4, n_obstacles5, n_obstacles6, n_obstacles7, n_obstacles8};
private:
// [publisher attributes]
......
launch/fake_localization.launch
+ 2
− 2
View file @ dcb3382b
......@@ -12,8 +12,8 @@
<param name="base_frame_id" value="/$(optenv ROBOT tibi)/base_footprint" />
<!-- parameters to change the robot initial position, if want the robot in -1 and -8=> delta_x=1.0 ; delta_y=8.0 -->
<param name="delta_x" value="1.0" /> <!-- Normal position (estrechez mitad camino) = delta_x=1.0 ; delta_y=2.0 ; delta_yaw=0.0 -->
<param name="delta_y" value="1.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-18.0 ; delta_yaw=1.57 -->
<param name="delta_yaw" value="0.0" />
<param name="delta_y" value="1.5" /> <!-- GIRO ESQUINA position (estrechez mitad camino)= delta_x=1.0 ; delta_y=-15.0 ; delta_yaw=1.57 -->
<param name="delta_yaw" value="0.0" /> <!-- Normal position2_act_ultima (estrechez mitad camino) = delta_x=1.0 ; delta_y=1.5 ; delta_yaw=0.0 -->
<remap from="/odom" to="/$(optenv ROBOT tibi)/segway/odom"/>
<remap from="base_pose_ground_truth" to="/$(optenv ROBOT tibi)/segway/odom"/>
</node>
......
launch/fake_localization2.launch
+ 2
− 1
View file @ dcb3382b
......@@ -12,8 +12,9 @@
<param name="base_frame_id" value="/$(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=1.0 ; delta_y=-18.0 ; delta_yaw=1.57 -->
<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 -->
<!-- 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"/>
</node>
......
src/fake_laser_gen_alg_node.cpp
+ 85
− 7
View file @ dcb3382b
......@@ -88,7 +88,9 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
LaserScan_msg_.ranges.clear();
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!
//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; //caso estrechez en medio del camino! caso obstaculos a 1.94 m entre ellos. va con empty_map_whit_obstacles2
laser_mode_=FakeLaserGenAlgNode::n_obstacles8; //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!
//laser_mode_=FakeLaserGenAlgNode::scene_3; // caso pasillo, esquina. (Ancho)
//laser_mode_=FakeLaserGenAlgNode::scene_2; // Estrecho! caso pasillo, esquina.
......@@ -282,7 +284,7 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
}
break;
case FakeLaserGenAlgNode::n_obstacles3 :
case FakeLaserGenAlgNode::n_obstacles3 : // caso obstaculos a 2.2305 m entre ellos. va con empty_map_whit_obstacles1
{
ROS_INFO("n obstacles 3");
/* LaserScan_msg_.ranges[100]= 4.0;
......@@ -309,17 +311,93 @@ void FakeLaserGenAlgNode::node_config_update(Config &config, uint32_t level)
LaserScan_msg_.ranges[680-15]= 13.15;
LaserScan_msg_.ranges[680-10]= 13.15;
LaserScan_msg_.ranges[680-5]= 13.0;
LaserScan_msg_.ranges[730+5]= 13.0;
LaserScan_msg_.ranges[730+10]= 13.15;
LaserScan_msg_.ranges[730+15]= 13.15;
LaserScan_msg_.ranges[730-5]= 13.0;
LaserScan_msg_.ranges[730]= 13.15;
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+20]= 13.15;
LaserScan_msg_.ranges[730+25]= 13.15;
LaserScan_msg_.ranges[730+30]= 13.15;
LaserScan_msg_.ranges[1300+18]= 7.0;
}
break;
case FakeLaserGenAlgNode::n_obstacles7 : // caso obstaculos a 1.94 m entre ellos. va con empty_map_whit_obstacles2
{
ROS_INFO("n obstacles 3");
/* LaserScan_msg_.ranges[100]= 4.0;
LaserScan_msg_.ranges[100+40]= 4.0;
LaserScan_msg_.ranges[340]= 4.0;
LaserScan_msg_.ranges[340+40]= 4.0;
LaserScan_msg_.ranges[580]= 4.0;
LaserScan_msg_.ranges[580+40]= 4.0;
LaserScan_msg_.ranges[820]= 4.0;
LaserScan_msg_.ranges[820+40]= 4.0;
LaserScan_msg_.ranges[1060]= 4.0;
LaserScan_msg_.ranges[1060+40]= 4.0;
LaserScan_msg_.ranges[1300]= 4.0;
LaserScan_msg_.ranges[1300+40]= 4.0;*/
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[680-10]= 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[730-5]= 13.0;
LaserScan_msg_.ranges[730]= 13.15;
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+20]= 13.15;
LaserScan_msg_.ranges[1300+18]= 7.0;
}
break;
case FakeLaserGenAlgNode::n_obstacles8 : // caso obstaculos a 1.4965 m entre ellos. va con empty_map_whit_obstacles2
{
ROS_INFO("n obstacles 3");
/* LaserScan_msg_.ranges[100]= 4.0;
LaserScan_msg_.ranges[100+40]= 4.0;
LaserScan_msg_.ranges[340]= 4.0;
LaserScan_msg_.ranges[340+40]= 4.0;
LaserScan_msg_.ranges[580]= 4.0;
LaserScan_msg_.ranges[580+40]= 4.0;
LaserScan_msg_.ranges[820]= 4.0;
LaserScan_msg_.ranges[820+40]= 4.0;
LaserScan_msg_.ranges[1060]= 4.0;
LaserScan_msg_.ranges[1060+40]= 4.0;
LaserScan_msg_.ranges[1300]= 4.0;
LaserScan_msg_.ranges[1300+40]= 4.0;*/
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[680-15]= 13.0;
LaserScan_msg_.ranges[680-10]= 13.25;
LaserScan_msg_.ranges[680-5]= 13.25;
LaserScan_msg_.ranges[680]= 13.15;
LaserScan_msg_.ranges[680+8]= 13.15; // 6.5 pasan...
// LaserScan_msg_.ranges[680+5]= 13.0;
LaserScan_msg_.ranges[730-3.5]= 13.15; //4.5 pasan...
LaserScan_msg_.ranges[730]= 13.15;
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+20]= 13.15;
LaserScan_msg_.ranges[1300+18]= 7.0;
}
break;
case FakeLaserGenAlgNode::n_obstacles6 :
{
ROS_INFO("n obstacles 6");
......
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