diff --git a/launch/gazebo_ASPSI_BRL.launch b/launch/gazebo_ASPSI_BRL.launch
deleted file mode 100644
index e9a9d7abcbc8e1566844ed3638fdd2758a8dc8b2..0000000000000000000000000000000000000000
--- a/launch/gazebo_ASPSI_BRL.launch
+++ /dev/null
@@ -1,103 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <arg name="world" default="master_big"/> <!--Change the name: master_big with other gazebo's map name to change the map of the environemnt. -->
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="11.0"/> <!-- changes the x component of the initial robot's position inside the environment (it is in map coordinates)-->
- <arg name="robot_y" default="22.0"/> <!-- changes the y component of the initial robot's position inside the environment (it is in map coordinates)-->
- <arg name="robot_yaw" default="0.0"/> <!-- changes the initial robot's orientation inside the environment (it is in map coordinates)-->
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
-<!-- person1 is the nearest person to the robot. This person will be the accompanied one, if you use exactly our instructions included in the read-me of the node. -->
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="11.5"/> <!-- changes the x component of the initial person1's position inside the environment (it is in map coordinates). -->
- <arg name="y" value="20.0"/> <!-- changes the y component of the initial person1's position inside the environment (it is in map coordinates)-->
- <arg name="yaw" value="0.0"/> <!-- changes the initial person1's orientation inside the environment (it is in map coordinates)-->
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="11.5"/> <!-- changes the x component of the initial person2's position inside the environment (it is in map coordinates). -->
- <arg name="y" value="18.0"/> <!-- changes the y component of the initial person2's position inside the environment (it is in map coordinates)-->
- <arg name="yaw" value="0.0"/> <!-- changes the initial person2's orientation inside the environment (it is in map coordinates)-->
-
- </include>
-
-
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="40.5"/>
- <arg name="y" value="17.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="40.0"/>
- <arg name="y" value="21.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<!-- You can include more people using the same structure-->
-
- <!--nav-->
- <!-- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>-->
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux.launch"/>
- <!-- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/> -->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <!-- ASPSI- gazebo only-->
- <include file="$(find iri_robot_aspsi)/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--/nav-->
-
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
-
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find iri_robot_aspsi)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/gazebo_ASPSI_BRL_OK.launch b/launch/gazebo_ASPSI_BRL_OK.launch
deleted file mode 100644
index 30a1915d1c8eb3daf29056216c92c60c2868a477..0000000000000000000000000000000000000000
--- a/launch/gazebo_ASPSI_BRL_OK.launch
+++ /dev/null
@@ -1,50 +0,0 @@
-<!-- -->
-<launch>
-
-
- <!-- Ini Navigation Companion Nodes -->
- <!--launch-prefix="xterm -e ddd -args" -->
-
- <group ns="dabo">
- <rosparam command="delete" ns="/dabo/move_base" />
-
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/dabo/move_base/cmd_vel"
- to="/dabo/navigation/cmd_vel" />
- <remap from="/dabo/move_base/odom"
- to="/dabo/odom" />
- <remap from="/dabo/front_scan"
- to="/dabo/sensors/front_scan" />
- <remap from="/dabo/rear_scan"
- to="/dabo/sensors/rear_scan" />
- <remap from="/dabo/tracks"
- to="/mht_2/tracks" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/akp_local_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml" command="load" />
- <!--<rosparam file="$(find iri_dabo_rosnav)/params/global_planner/global_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/mux.yaml" command="load" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/master_big_destinations_Gazebo_sim.txt" />
- <param name="AkpLocalPlanner/results_filename_Zanlungo" value="name_file.txt" />
- <param name="AkpLocalPlanner/robot" value="dabo"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_robot_footprint" value="dabo/base_link"/>
- </node>
- </group>
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" />
-
-</launch>
diff --git a/launch/gazebo_ASPSI_BRL_OK_more_dest.launch b/launch/gazebo_ASPSI_BRL_OK_more_dest.launch
deleted file mode 100644
index ecc4606c25ab73e2dda0ae399f665afe5fa9c37a..0000000000000000000000000000000000000000
--- a/launch/gazebo_ASPSI_BRL_OK_more_dest.launch
+++ /dev/null
@@ -1,50 +0,0 @@
-<!-- -->
-<launch>
-
-
- <!-- Ini Navigation Companion Nodes -->
- <!--launch-prefix="xterm -e ddd -args" -->
-
- <group ns="dabo">
- <rosparam command="delete" ns="/dabo/move_base" />
-
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/dabo/move_base/cmd_vel"
- to="/dabo/navigation/cmd_vel" />
- <remap from="/dabo/move_base/odom"
- to="/dabo/odom" />
- <remap from="/dabo/front_scan"
- to="/dabo/sensors/front_scan" />
- <remap from="/dabo/rear_scan"
- to="/dabo/sensors/rear_scan" />
- <remap from="/dabo/tracks"
- to="/mht_2/tracks" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/dabo/akp_local_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml" command="load" />
- <!--<rosparam file="$(find iri_dabo_rosnav)/params/global_planner/global_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/mux.yaml" command="load" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/master_big_destinations_Gazebo_sim_more_dest.txt" />
- <param name="AkpLocalPlanner/results_filename_Zanlungo" value="name_file.txt" />
- <param name="AkpLocalPlanner/robot" value="dabo"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_robot_footprint" value="dabo/base_link"/>
- </node>
- </group>
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" />
-
-</launch>
diff --git a/launch/gazebo_ASPSI_OK_ana.launch b/launch/gazebo_ASPSI_OK_ana.launch
deleted file mode 100644
index 3db1b61dbf31bcfab7709dcdf75f9b1ed3af0bcf..0000000000000000000000000000000000000000
--- a/launch/gazebo_ASPSI_OK_ana.launch
+++ /dev/null
@@ -1,73 +0,0 @@
-<!-- -->
-<launch>
-
-
- <!-- Ini Navigation Companion Nodes -->
- <!--launch-prefix="xterm -e ddd -args" -->
-
- <group ns="$(optenv ROBOT ana)">
- <rosparam command="delete" ns="/ana/move_base" />
-
- <!--launch-prefix="xterm -e ddd -args" machine="visio"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/ana/move_base_ana/cmd_vel"
- to="/ana/navigation/cmd_vel" />
- <remap from="/ana/move_base_ana/odom"
- to="/ana/odom" />
- <remap from="/ana/front_scan"
- to="/ana/sensors/scan" />
- <remap from="/ana/rear_scan"
- to="/ana/sensors/scan" />
- <remap from="/ana/tracks"
- to="/ana/mht/tracks" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/move_base_params_aspsi.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/ana/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/ana/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/akp_local_planner_params.yaml" command="load" />
-<rosparam file="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml" command="load" />
- <!--<rosparam file="$(find iri_dabo_rosnav)/params/global_planner/global_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/mux.yaml" command="load" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/destinaciones_ana_FME_ubuntu18_ros_melodic.txt" />
- <param name="AkpLocalPlanner/results_filename_Zanlungo" value="name_file.txt" />
- <param name="AkpLocalPlanner/robot" value="ana"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_robot_footprint" value="ana/base_link"/>
- </node>
-
-<!-- node states companion -->
- <node pkg ="iri_state_machine_companion"
- type="iri_state_machine_companion"
- name="state_mach_comp"
- output="screen">
- <remap from="/ana/state_mach_comp/people_tracks"
- to="/ana/mht/tracks" />
- <remap from="/ana/state_mach_comp/odom"
- to="/ana/odom" />
- <remap from="/ana/state_mach_comp/companionState"
- to="/ana/companionState" />
- <remap from="/ana/state_mach_comp/tibi_akp_status"
- to="/ana/ana_akp_tatus"/>
- <param name="~/threshold_max_dist_between_robot_and_person_conf" value="3.0" />
- <param name="~/frame_map" value="map" />
- <param name="~/frame_robot_footprint" value="ana/base_link" />
- <param name="~/robot" value="ana" />
- <param name="terrinet_project_conf" value="true"/>
- </node>
- </group>
-
-
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" />
-
-</launch>
diff --git a/launch/gazebo_ASPSI_OK_ana_brl.launch b/launch/gazebo_ASPSI_OK_ana_brl.launch
deleted file mode 100644
index 6d60eb1d05b36cca6bf4f8a7f7b19cc236c083f7..0000000000000000000000000000000000000000
--- a/launch/gazebo_ASPSI_OK_ana_brl.launch
+++ /dev/null
@@ -1,75 +0,0 @@
-<!-- -->
-<launch>
-
-
- <!-- Ini Navigation Companion Nodes -->
- <!--launch-prefix="xterm -e ddd -args" -->
-
- <group ns="$(optenv ROBOT ana)">
- <rosparam command="delete" ns="/ana/move_base" />
-
- <!--launch-prefix="xterm -e ddd -args" machine="visio"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/ana/move_base_ana/cmd_vel"
- to="/ana/navigation/cmd_vel" />
- <remap from="/ana/move_base_ana/odom"
- to="/ana/odom" />
- <remap from="/ana/front_scan"
- to="/ana/sensors/scan" />
- <remap from="/ana/rear_scan"
- to="/ana/sensors/scan" />
- <remap from="/ana/tracks"
- to="/ana/mht/tracks" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/move_base_params_aspsi.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/ana/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/ana/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/ana2/akp_local_planner_params.yaml" command="load" />
-<rosparam file="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml" command="load" />
- <!--<rosparam file="$(find iri_dabo_rosnav)/params/global_planner/global_planner_params.yaml" command="load" />
- <rosparam file="$(find iri_dabo_rosnav)/params/mux.yaml" command="load" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/master_big_destinations_Gazebo_sim_more_dest.txt" />
- <param name="AkpLocalPlanner/results_filename_Zanlungo" value="name_file.txt" />
- <param name="AkpLocalPlanner/robot" value="ana"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_robot_footprint" value="ana/base_link"/>
- </node>
-
-<!-- node states companion -->
- <node pkg ="iri_state_machine_companion"
- type="iri_state_machine_companion"
- name="state_mach_comp"
- output="screen">
- <remap from="/ana/state_mach_comp/people_tracks"
- to="/ana/mht/tracks" />
- <remap from="/ana/state_mach_comp/odom"
- to="/ana/odom" />
- <remap from="/ana/state_mach_comp/companionState"
- to="/ana/companionState" />
- <remap from="/ana/state_mach_comp/tibi_akp_status"
- to="/ana/ana_akp_tatus"/>
- <param name="~/threshold_max_dist_between_robot_and_person_conf" value="3.0" />
- <param name="~/frame_map" value="map" />
- <param name="~/frame_robot_footprint" value="ana/base_link" />
- <param name="~/robot" value="ana" />
- <param name="terrinet_project_conf" value="true"/>
- </node>
-
- </group>
-
-
-
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" />
-
-</launch>
diff --git a/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch b/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch
deleted file mode 100644
index 6c885cd95233a30563b92f8695c1d005d68c398b..0000000000000000000000000000000000000000
--- a/launch/iri_mht_and_ASPSI_test_bags_laser_Terrinet.launch
+++ /dev/null
@@ -1,262 +0,0 @@
-<!-- -->
-<launch>
-
- <param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args="--pause -l -q --clock -r 1 $(find iri_people_tracking_mht)/bags_terrinet_de_Luca/DIAG-corr-pt_1.bag"
- >
-
- <!-- -s (segundos inicio) pause : rosbags starts in pause-->
-
- <!-- rosbags to use: -->
- <!-- DIAG-corr-static-p1_01.bag
- DIAG-corr-static-p1_02.bag
- DIAG-room-static-p1_01.bag
- DIAG-room-static-p1_02.bag
- DIAG-corr-moving-p1_01.bag
- DIAG-corr-moving-p1_02.bag
-
-rosbags with tf:
-Home-moving-tf_01.bag
-Home-moving-tf_02.bag
-Home-moving-tf_03.bag
-
-Readme from Luca:
-
-Bags with people moving in the DIAG corridor
-
-DIAG-corr-pt_1.bag: /odom /scam /cmd_vel /tf
-DIAG-corr-pt_2.bag /odom /scam /cmd_vel /tf
-
-Maps (they are actually the same, 1st one seems good)
-
-DIAG-corr-map_1.yaml / DIAG-corr-map_1.pgm
-DIAG-corr-map_2.yaml / DIAG-corr-map_2.pgm
-
-The bags above starts from the origin of the map. So if you want to run a localizer, just start it with above map and use default initial pose (0,0,0).
-
-Bags with all topics and tf including localization
-
-DIAG-corr-pt_1_all.bag
-DIAG-corr-pt_2_all.bag
-
-
-
--->
-
- </node>
-
-
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen">
- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" />
- <remap from="/mht_2/odom"
- to="/odom" /> <!-- /topic-odometry-of-the-robot -->
- <remap from="/mht_2/odom_for_medium_velocity"
- to="/odom" /> <!-- /topic-odometry-of-the-robot -->
-
- <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
- <param name="~/frame_id" type="string" value="/map" /> <!-- tf of the map for the tracker -->
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="1.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.97" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.5" />
- <param name="~/mht_velocity_margin" type="double" value="1.0" />
- <param name="~/covariance_no_track" type="double" value="5.0" />
- </node>
-
- <!-- Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_2"
- output="screen"
- >
-
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.07" />
- <param name="~/personRadius" type="double" value="0.7" />
- <!-- load different trained detectors (to switch at rangeThreshold) -->
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <!-- transform detections to base_link frame -->
- <param name="~/selectPosesFrame" type="bool" value="False" />
- <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
- <!-- visualization -->
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.4" />
- <param name="~/markerR" type="double" value="0.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.5" />
- <param name="~/markerA" type="double" value="0.5" />
- <!-- filter detections by range/x/y -->
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
-
- <remap from="/lpd_2/scan"
- to="/scan" /> <!-- topic: scan del robot -->
- <remap from="/lpd_2/people"
- to="/lpd_2/people" />
- </node>
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="laser_people_map_filter">
-
- <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
- <param name="~/neighborRadius" type="double" value="0.3" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
-
-
- <remap from="/laser_people_map_filter/people"
- to="/lpd_2/people" />
- <remap from="/laser_people_map_filter/peopleFiltered"
- to="/lpd_2/peopleMapFiltered" />
- <remap from="/laser_people_map_filter/map"
- to="/map" /> <!-- topic of the map -->
-
- </node>
-
-
-<!--map_server-->
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl_terrinet.launch">
- <arg name="x" value="0.0"/>
- <arg name="y" value="0.0"/>
- <arg name="a" value="0.0"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server_terrinet.launch">
- <arg name="map" value="DIAG-corr-map_1"/>
- </include>
-
- <!--/nav-Companion-node:-->
- <!--output="screen"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/cmd_vel"
- to="/cmd_vel" />
- <remap from="/odom"
- to="/odom" />
- <remap from="/front_scan"
- to="/scan" />
- <remap from="/rear_scan"
- to="/scan" />
- <remap from="/tracks"
- to="/mht_2/tracks" />
- <remap from="/map"
- to="/map" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params_terrinet.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/local_costmap_params_terrinet.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/global_costmap_params_terrinet.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
-
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/terrinet_corridor_dest.txt" />
-<param name="AkpLocalPlanner/results_filename_Zanlungo" value="/home/erepiso/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/local_lib_ATR_7_junio/1_data_results_Vform/results_person_companion_Vform.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
-
- <param name="AkpLocalPlanner/radi_to_detect_other_people_no_companions" value="4.0"/> <!-- radi to detect people like obstacles-->
- <param name="AkpLocalPlanner/detection_laser_obstacle_distances" value="2.0"/> <!-- radi to detect static obstacles-->
-<param name="AkpLocalPlanner/in_change_dynamically_final_dest" value="False"/> <!-- To true if you use the distance_to_dynamic_goal_Vform-->
- <param name="AkpLocalPlanner/distance_to_dynamic_goal_Vform" value="0.0"/> <!-- dynamic goal from static goals of the environment to obtain a good sid-by-side formation (In narrow corridor 0.0, to do not collide with the walls at the sides of the two final static obstacles of the environment.-->
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <param name="AkpLocalPlanner/proximity_distance_between_robot_and_person" value="0.7"/> <!-- accompaniment distance-->
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_map" type="string" value="/map" />
- <param name="AkpLocalPlanner/frame_robot_footprint" type="string" value="/base_frame" />
- </node>
-
- <!--to do not collide in any case-->
- <!-- <node pkg="iri_safe_cmd"
- type="iri_safe_cmd"
- name="iri_safe_cmd_nav"
- >
- <param name="unsafe" type="bool" value="false"/>
- <param name="min_dist" type="double" value="0.5"/>
- <param name="collision_time" type="double" value="1.5"/>
- <param name="limit_vel_front" type="double" value="1.0"/>
- <param name="limit_vel_rear" type="double" value="-1.0"/>
- <param name="front_laser_watchdog_time" type="double" value="1.0"/>
- <param name="rear_laser_watchdog_time" type="double" value="1.0"/>-->
- <!--<param name="base_frame" type="str_t" value="tibi/base_link"/>-->
- <!-- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
- <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
- <remap from="~rear_laser" to="/scan"/>
- <remap from="~front_laser" to="/scan"/>
- </node> -->
-
- <!--hri-->
- <!-- <include file="$(find tibi_dabo_hri_node)/launch/tibi_dabo_hri_node.launch"/>
- <include file="$(find tibi_dabo_hri_database)/launch/tibi_dabo_hri_database_ely.launch">
- <arg name="demo" default="Ely_side_Vform"/>
- </include>
- <include file="$(find tibi_dabo_hri_teleop_companion)/launch/tibi_dabo_hri_teleop_ely.launch"/> -->
-
- <!-- node states companion -->
- <!-- <include file="$(find iri_state_machine_companion)/launch/tibi_dabo_state_machine_companion.launch"/>-->
-
-
-
- <node name="rviz"
- pkg ="rviz"
- type="rviz"
- args="-d $(find iri_people_tracking_mht)/config/test_terrinet.rviz" />/>
-<!-- tibi_local.vcg-->
- <node name="reconfigure_gui"
- pkg ="rqt_reconfigure"
- type="rqt_reconfigure" />
-
-
-</launch>
diff --git a/launch/iri_mht_and_ASSAOP_test_bags_laser_Terrinet.launch b/launch/iri_mht_and_ASSAOP_test_bags_laser_Terrinet.launch
deleted file mode 100644
index 995117bee123c655e1f30965d7966fb40b48d46f..0000000000000000000000000000000000000000
--- a/launch/iri_mht_and_ASSAOP_test_bags_laser_Terrinet.launch
+++ /dev/null
@@ -1,262 +0,0 @@
-<!-- -->
-<launch>
-
- <param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args="--pause -l -q --clock -r 1 $(find iri_people_tracking_mht)/bags_terrinet_de_Luca/DIAG-corr-pt_1.bag"
- >
-
- <!-- -s (segundos inicio) pause : rosbags starts in pause-->
-
- <!-- rosbags to use: -->
- <!-- DIAG-corr-static-p1_01.bag
- DIAG-corr-static-p1_02.bag
- DIAG-room-static-p1_01.bag
- DIAG-room-static-p1_02.bag
- DIAG-corr-moving-p1_01.bag
- DIAG-corr-moving-p1_02.bag
-
-rosbags with tf:
-Home-moving-tf_01.bag
-Home-moving-tf_02.bag
-Home-moving-tf_03.bag
-
-Readme from Luca:
-
-Bags with people moving in the DIAG corridor
-
-DIAG-corr-pt_1.bag: /odom /scam /cmd_vel /tf
-DIAG-corr-pt_2.bag /odom /scam /cmd_vel /tf
-
-Maps (they are actually the same, 1st one seems good)
-
-DIAG-corr-map_1.yaml / DIAG-corr-map_1.pgm
-DIAG-corr-map_2.yaml / DIAG-corr-map_2.pgm
-
-The bags above starts from the origin of the map. So if you want to run a localizer, just start it with above map and use default initial pose (0,0,0).
-
-Bags with all topics and tf including localization
-
-DIAG-corr-pt_1_all.bag
-DIAG-corr-pt_2_all.bag
-
-
-
--->
-
- </node>
-
-
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen">
- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" />
- <remap from="/mht_2/odom"
- to="/odom" /> <!-- /topic-odometry-of-the-robot -->
- <remap from="/mht_2/odom_for_medium_velocity"
- to="/odom" /> <!-- /topic-odometry-of-the-robot -->
-
- <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
- <param name="~/frame_id" type="string" value="/map" /> <!-- tf of the map for the tracker -->
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="1.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.97" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.5" />
- <param name="~/mht_velocity_margin" type="double" value="1.0" />
- <param name="~/covariance_no_track" type="double" value="5.0" />
- </node>
-
- <!-- Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_2"
- output="screen"
- >
-
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.07" />
- <param name="~/personRadius" type="double" value="0.7" />
- <!-- load different trained detectors (to switch at rangeThreshold) -->
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <!-- transform detections to base_link frame -->
- <param name="~/selectPosesFrame" type="bool" value="False" />
- <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
- <!-- visualization -->
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.4" />
- <param name="~/markerR" type="double" value="0.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.5" />
- <param name="~/markerA" type="double" value="0.5" />
- <!-- filter detections by range/x/y -->
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
-
- <remap from="/lpd_2/scan"
- to="/scan" /> <!-- topic: scan del robot -->
- <remap from="/lpd_2/people"
- to="/lpd_2/people" />
- </node>
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="laser_people_map_filter">
-
- <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
- <param name="~/neighborRadius" type="double" value="0.3" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
-
-
- <remap from="/laser_people_map_filter/people"
- to="/lpd_2/people" />
- <remap from="/laser_people_map_filter/peopleFiltered"
- to="/lpd_2/peopleMapFiltered" />
- <remap from="/laser_people_map_filter/map"
- to="/map" /> <!-- topic of the map -->
-
- </node>
-
-
-<!--map_server-->
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl_terrinet.launch">
- <arg name="x" value="0.0"/>
- <arg name="y" value="0.0"/>
- <arg name="a" value="0.0"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server_terrinet.launch">
- <arg name="map" value="DIAG-corr-map_1"/>
- </include>
-
- <!--/nav-Companion-node:-->
- <!--output="screen"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/cmd_vel"
- to="/cmd_vel" />
- <remap from="/odom"
- to="/odom" />
- <remap from="/front_scan"
- to="/scan" />
- <remap from="/rear_scan"
- to="/scan" />
- <remap from="/tracks"
- to="/mht_2/tracks" />
- <remap from="/map"
- to="/map" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/costmap_common_params_terrinet.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/local_costmap_params_terrinet.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/global_costmap_params_terrinet.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
-
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_assaop)/maps/terrinet_corridor_dest.txt" />
-<param name="AkpLocalPlanner/results_filename_Zanlungo" value="/home/erepiso/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/local_lib_ATR_7_junio/1_data_results_Vform/results_person_companion_Vform.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- <param name="AkpLocalPlanner/person_goal_id" value="200"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/>
-
- <param name="AkpLocalPlanner/radi_to_detect_other_people_no_companions" value="4.0"/> <!-- radi to detect people like obstacles-->
- <param name="AkpLocalPlanner/detection_laser_obstacle_distances" value="2.0"/> <!-- radi to detect static obstacles-->
-<param name="AkpLocalPlanner/in_change_dynamically_final_dest" value="False"/> <!-- To true if you use the distance_to_dynamic_goal_Vform-->
- <param name="AkpLocalPlanner/distance_to_dynamic_goal_Vform" value="0.0"/> <!-- dynamic goal from static goals of the environment to obtain a good sid-by-side formation (In narrow corridor 0.0, to do not collide with the walls at the sides of the two final static obstacles of the environment.-->
- <param name="AkpLocalPlanner/person_radi_amp" value="0.2"/>
- <param name="AkpLocalPlanner/change_treshold_distance_between_steps" value="0.3"/>
- <param name="AkpLocalPlanner/proximity_distance_between_robot_and_person" value="0.7"/> <!-- accompaniment distance-->
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- <param name="AkpLocalPlanner/frame_map" type="string" value="/map" />
- <param name="AkpLocalPlanner/frame_robot_footprint" type="string" value="/base_frame" />
- </node>
-
- <!--to do not collide in any case-->
- <!-- <node pkg="iri_safe_cmd"
- type="iri_safe_cmd"
- name="iri_safe_cmd_nav"
- >
- <param name="unsafe" type="bool" value="false"/>
- <param name="min_dist" type="double" value="0.5"/>
- <param name="collision_time" type="double" value="1.5"/>
- <param name="limit_vel_front" type="double" value="1.0"/>
- <param name="limit_vel_rear" type="double" value="-1.0"/>
- <param name="front_laser_watchdog_time" type="double" value="1.0"/>
- <param name="rear_laser_watchdog_time" type="double" value="1.0"/>-->
- <!--<param name="base_frame" type="str_t" value="tibi/base_link"/>-->
- <!-- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
- <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
- <remap from="~rear_laser" to="/scan"/>
- <remap from="~front_laser" to="/scan"/>
- </node> -->
-
- <!--hri-->
- <!-- <include file="$(find tibi_dabo_hri_node)/launch/tibi_dabo_hri_node.launch"/>
- <include file="$(find tibi_dabo_hri_database)/launch/tibi_dabo_hri_database_ely.launch">
- <arg name="demo" default="Ely_side_Vform"/>
- </include>
- <include file="$(find tibi_dabo_hri_teleop_companion)/launch/tibi_dabo_hri_teleop_ely.launch"/> -->
-
- <!-- node states companion -->
- <!-- <include file="$(find iri_state_machine_companion)/launch/tibi_dabo_state_machine_companion.launch"/>-->
-
-
-
- <node name="rviz"
- pkg ="rviz"
- type="rviz"
- args="-d $(find iri_people_tracking_mht)/config/test_terrinet.rviz" />/>
-<!-- tibi_local.vcg-->
- <node name="reconfigure_gui"
- pkg ="rqt_reconfigure"
- type="rqt_reconfigure" />
-
-
-</launch>
diff --git a/launch/ivo_launch/ivo_detector_and_tracker.launch b/launch/ivo_launch/ivo_detector_and_tracker.launch
index 81554b7d625bcee810e611e24bb319b3bfea1a42..55a7bae76932fef0e443d01da9b67216b2fab181 100644
--- a/launch/ivo_launch/ivo_detector_and_tracker.launch
+++ b/launch/ivo_launch/ivo_detector_and_tracker.launch
@@ -56,7 +56,7 @@
<!--<arg name="sim_sufix" value="" unless="$(arg public_sim)"/>-->
<group if="$(arg use_map)">
- <!-- <group if="$(arg use_map_server)">
+ <group if="$(arg use_map_server)">
<include file="$(find iri_robot_aspsi)/launch/ivo_launch/launchs_internos_modificados/launchs_in_iri_rosnav_needed_for_tiago_robot/launchs_in_iri_rosnav_needed_for_tiago_robot/map_server_tiago.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
@@ -66,7 +66,7 @@
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
- </group>-->
+ </group>
<group if="$(arg use_amcl)">
<include file="$(find iri_robot_aspsi)/launch/ivo_launch/launchs_internos_modificados/iri_rosnav/launch/include/amcl_ivo.launch">
diff --git a/launch/model.launch b/launch/model.launch
deleted file mode 100644
index 5ccff6bf83347fde6d86ab6739a4e092ac4c4011..0000000000000000000000000000000000000000
--- a/launch/model.launch
+++ /dev/null
@@ -1,58 +0,0 @@
-<!-- -->
-<launch>
- <group ns="$(optenv ROBOT tibi)">
-
- <!-- <arg name="model" default="$(optenv ROBOT tibi)"/> -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tibi_dabo_description)/urdf/$(optenv ROBOT tibi).xacro'"/>
- <node pkg ="robot_state_publisher"
- type="state_publisher"
- name="robot_state_publisher">
- <param name="tf_prefix" value="$(optenv ROBOT tibi)" type="str" />
- </node>
- <arg name="x" default="0.0"/>
- <arg name="y" default="0.0"/>
- <arg name="yaw" default="0.0"/>
- <arg name="model" default="$(optenv ROBOT tibi)"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_pan"
- args="0.01722 0 0.025 0 0 0 /$(optenv ROBOT tibi)/neck1 /$(optenv ROBOT tibi)/neck2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_tilt"
- args="0 0 0.051 -1.5707963 0 -1.5707963 /$(optenv ROBOT tibi)/neck2 /$(optenv ROBOT tibi)/neck3 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_roll"
- args="0 -0.045 0 -1.5707963 0 -1.5707963 /$(optenv ROBOT tibi)/neck3 /$(optenv ROBOT tibi)/head 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="left_arm_pan"
- args="0.0 0.0 0.023 0.0 0.0 0.0 /$(optenv ROBOT tibi)/left_shoulder1 /$(optenv ROBOT tibi)/left_shoulder2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="left_arm_tilt"
- args="0.0 0.0 0.0435 0.0 -1.5707963 0.0 /$(optenv ROBOT tibi)/left_shoulder2 /$(optenv ROBOT tibi)/left_arm 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="right_arm_pan"
- args="0.0 0.0 0.023 0.0 0.0 0.0 /$(optenv ROBOT tibi)/right_shoulder1 /$(optenv ROBOT tibi)/right_shoulder2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="right_arm_tilt"
- args="0.0 0.0 0.0435 0.0 -1.5707963 0.0 /$(optenv ROBOT tibi)/right_shoulder2 /$(optenv ROBOT tibi)/right_arm 100"/>
-
- <node name="spawn_urdf_$(optenv ROBOT tibi)"
- pkg ="gazebo_ros"
- type="spawn_model"
- args="-param /$(optenv ROBOT tibi)/robot_description -urdf -model $(optenv ROBOT tibi) -x $(arg x) -y $(arg y) -Y $(arg yaw)">
- </node>
- </group>
-</launch>
diff --git a/launch/model2.launch b/launch/model2.launch
deleted file mode 100644
index c21ecb40efc96e14d9ae4987c40b1e8427c432e4..0000000000000000000000000000000000000000
--- a/launch/model2.launch
+++ /dev/null
@@ -1,58 +0,0 @@
-<!-- -->
-<launch>
- <group ns="dabo">
-
- <!-- <arg name="model" default="$(optenv ROBOT dabo)"/> -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find tibi_dabo_description)/urdf/dabo.xacro'"/>
- <node pkg ="robot_state_publisher"
- type="state_publisher"
- name="robot_state_publisher2">
- <param name="tf_prefix" value="dabo" type="str" />
- </node>
- <arg name="x" default="0.0"/>
- <arg name="y" default="0.0"/>
- <arg name="yaw" default="0.0"/>
- <arg name="model" default="dabo"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_pan2"
- args="0.01722 0 0.025 0 0 0 /dabo/neck1 /dabo/neck2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_tilt2"
- args="0 0 0.051 -1.5707963 0 -1.5707963 /dabo/neck2 /dabo/neck3 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="head_roll2"
- args="0 -0.045 0 -1.5707963 0 -1.5707963 /dabo/neck3 /dabo/head 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="left_arm_pan2"
- args="0.0 0.0 0.023 0.0 0.0 0.0 /dabo/left_shoulder1 /dabo/left_shoulder2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="left_arm_tilt2"
- args="0.0 0.0 0.0435 0.0 -1.5707963 0.0 /dabo/left_shoulder2 /dabo/left_arm 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="right_arm_pan2"
- args="0.0 0.0 0.023 0.0 0.0 0.0 /dabo/right_shoulder1 /dabo/right_shoulder2 100"/>
-
- <node pkg ="tf"
- type="static_transform_publisher"
- name="right_arm_tilt2"
- args="0.0 0.0 0.0435 0.0 -1.5707963 0.0 /dabo/right_shoulder2 /dabo/right_arm 100"/>
-
- <node name="spawn_urdf_dabo"
- pkg ="gazebo_ros"
- type="spawn_model"
- args="-param /dabo/robot_description -urdf -model dabo -x $(arg x) -y $(arg y) -Y $(arg yaw)">
- </node>
- </group>
-</launch>
diff --git a/launch/rosbags_launchs/akp.launch b/launch/rosbags_launchs/akp.launch
deleted file mode 100644
index 2ab7f47f40527e6f743a62ddbf96dc147f796bf0..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp.launch
+++ /dev/null
@@ -1,62 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!--launch-prefix="xterm -e ddd -args" -->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- machine="visio"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel_unsafe" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_atr_akp_local_planner_companion)/maps/brl_destinations.txt" />
- <param name="AkpLocalPlanner/results_filename_Zanlungo" value="$(env HOME)/akp/results_icra/results_robot.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node>
-
-
- <node pkg="iri_safe_cmd"
- type="iri_safe_cmd"
- name="iri_safe_cmd_nav"
- machine="nav">
- <param name="unsafe" type="bool" value="false"/>
- <param name="min_dist" type="double" value="0.3"/>
- <param name="collision_time" type="double" value="1.5"/>
- <param name="limit_vel_front" type="double" value="1.0"/>
- <param name="limit_vel_rear" type="double" value="1.0"/>
- <param name="front_laser_watchdog_time" type="double" value="1.0"/>
- <param name="rear_laser_watchdog_time" type="double" value="1.0"/>
- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/navigation/cmd_vel"/>
- <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
- <remap from="~rear_laser" to="/$(env ROBOT)/sensors/rear_laser_scan"/>
- <remap from="~front_laser" to="/$(env ROBOT)/sensors/front_laser_scan"/>
- </node>
-
-
- </group>
-
-</launch>
diff --git a/launch/rosbags_launchs/akp2.launch b/launch/rosbags_launchs/akp2.launch
deleted file mode 100644
index 688521b447c8116c284a2dd53339d2cc752a6430..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp2.launch
+++ /dev/null
@@ -1,47 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!--launch-prefix="xterm -e ddd -args" -->
- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" />
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_akp_local_planner_companion)/maps/$(arg map)_destinations.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/results_robot.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node>
-
- </group>
-
-</launch>
diff --git a/launch/rosbags_launchs/akp3_ICRA.launch b/launch/rosbags_launchs/akp3_ICRA.launch
deleted file mode 100644
index 3a646ae0518f59e22bacefce1530213213300ea9..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp3_ICRA.launch
+++ /dev/null
@@ -1,256 +0,0 @@
-<!-- -->
-<launch>
-
-<param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args=" --clock --pause -l $(find iri_akp_local_planner_companion)/rosbags/rosbags_buenos_ICRA_y_IROS2018/g5/2017-09-14-11-24-53.bag"/>
-
-<!-- Rosbags akp_companion!!! (paper IROS2017) -->
-<!--
-
-
-g1 => encuentro, sin obst, ni personas.
-
- 1) video: DSC_2611, results_robot4.txt
-
- rosbag: /rosbags/g1/2017-09-13-10-23-46.bag (NO rviz)
-
- 2) video: DSC_2609, results_robot2.txt
-
- rosbag: /rosbags/g1/2017-09-13-10-17-19.bag (good rviz)
-
-
-g2=> encuentro, con obst personas.
-
- 1) video: DSC_2616, results_robotX.txt
-
- rosbag: /rosbags/g2/2017-09-13-10-50-47.bag (rviz pasable)
-
- 2) video: DSC_2621, results_robotX.txt (con la chica de fuera)
-
- rosbag: /rosbags/g2/2017-09-13-11-15-04.bag (rviz ok, solo necesita algun corte y no muy persudicial)
-
- 3) video: DSC_2622, results_robotX.txt
-
- rosbag: /rosbags/g2/2017-09-13-11-26-20.bag
-
-
-g5=> encuentro, con obst staticos.
-
- 1) video: DSC_2641, results_robot5.txt
-
-rosbag: /rosbags/g5/2017-09-14-11-24-53.bag [regular] (si veo que este no acaba de verse bien, el anterior tambien estaba bastante bien: 2017-09-14-11-20-27.bag)
-
- 2) video: DSC_2640, results_robot4.txt
-
-rosbag: /rosbags/g5/2017-09-14-11-20-27.bag
-
-poner para captura, imagenes imagen real + rviz:2017-09-14-11-04-17.bag
--->
-
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
-
- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
-
-<!-- roslaunch iri_akp_local_planner_companion model_robot_company.launch -->
- <include file="$(find iri_akp_local_planner_companion)/launch/model_robot_company.launch"/>
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen"> -->
- <!-- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" /> -->
- <!-- <remap from="~detections"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="~odom_for_medium_velocity"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.15" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/track_path_markers" type="bool" value="False" />
- </node> -->
-
-
- <!-- Front Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-0.05" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
- <!-- Rear Laser People Detector (remap)-->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.05" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.5" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- <remap from="~peopleFiltered"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(optenv ROBOT tibi)/map" />
- </node> -->
-
-
-
-<!-- iri_akp_local_planner_companion (remap) -->
- <!--launch-prefix="xterm -e ddd -args" -->
- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <!-- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht_2/tracks" /> -->
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" /> -
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_akp_local_planner_companion)/maps/fme_open_destinations.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/results_robot.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node>
-
- </group>
-
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi).rviz" />
-
-
-</launch>
diff --git a/launch/rosbags_launchs/akp4_journal.launch b/launch/rosbags_launchs/akp4_journal.launch
deleted file mode 100644
index 95d8d213b3b6aabcea3a1e86d7b3f3850127b83e..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp4_journal.launch
+++ /dev/null
@@ -1,368 +0,0 @@
-<!-- -->
-<launch>
-
-<param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args=" --clock --pause -l $(find iri_akp_local_planner_companion)/rosbags/rosbags_real_exp_journal_2018/g4_rosbags/2018-02-02-10-45-21.bag"/>
-
-<!-- Rosbags akp_companion!!! (paper journal2018) -->
-<!-- -s 150
-/rosbags/rosbags_real_exp_journal_2018/g3_rosbags/2018-01-30-09-53-04.bag
-
-29/01/2018: (TODOS de gente random)
-
-1 - rosbags_g2/2018-01-29-10-47-22 test1
-
-2 - rosbags_g2/2018-01-29-10-57-08 test2
-
-3 - 2018-01-29-11-19-35 test 3 solo parte final. (Cre que eran niñas acojonadas! XD)
-
-4 - 2018-01-29-11-20-13 !
-
-5 - 2018-01-29-11-27-58 !
-
-6 - 2018-01-29-11-30-33 !
-
-7 - 2018-01-29-11-39-08 !
-
-8 - 2018-01-29-11-40-44 !
-
-9 - 2018-01-29-11-48-22 !
-
-10 - 2018-01-29-11-50-53 !
-
- - 2018-01-29-11-56-09 (Este es malo!)
-
-11 - 2018-01-29-11-56-18 !
-
-12 - 2018-01-29-11-58-28 !
-
-13 - 2018-01-29-12-04-20 !
-
-14 - 2018-01-29-12-15-44 !
-
-15 - 2018-01-29-12-23-56 !
-
-16 - 2018-01-29-12-31-12 !
-
-17 - 2018-01-29-12-54-07 !
-
-18 - 2018-01-29-13-00-02 !
-
-19 - 2018-01-29-13-04-03 !
-
- - 2018-01-29-13-15-19 (Este es malo!)
-
-20 - 2018-01-29-13-17-54 !
-
-21 - 2018-01-29-13-22-01 !
-
-30/01/2018:
-
-22- g3_rosbags/2018-01-30-09-46-17 ! OK! (raro, mama y jose. Empujaba a tibi hacia la pared.)
-
-23- 2018-01-30-09-50-46 ! (mama y jose bien)
-
-24- 2018-01-30-09-53-04 ! (Jose y papa)
-
-25- 2018-01-30-10-49-11 ! => (joan ferrandis y victor vilchez)
-
-26- 2018-01-30-09-55-16 (TIENE pinta de ser mi metodo, no teleop)
-
-02/02/2018
-
-27 - 2018-02-02-10-40-17 !
-
-28 - 2018-02-02-10-45-21 !
-
- - 2018-02-02-10-47-35 (malo)
-
-- 2018-02-02-10-48-58 (Este es malo!)
-
-29 - 2018-02-02-10-49-04 !
-
-30 - 2018-02-02-10-50-34 !
-
-31 - 2018-02-02-10-51-49 (mala, tia fuera jode experimento)
-
-32 - 2018-02-02-10-56-59 !
-
- - 2018-02-02-10-58-07 (Este es malo!)
-
-33 - 2018-02-02-10-58-50 !
-
- - 2018-02-02-11-00-55 (Este es malo!)
-
-34 - 2018-02-02-11-01-51 !
-
-35 - 2018-02-02-11-04-29 !
-
-36 - 2018-02-02-11-06-16 !
-
-37 - 2018-02-02-11-50-04 !
-
- - 2018-02-02-11-52-24 (Este es malo!)
-
-38 - 2018-02-02-11-53-26 !
-
- - 2018-02-02-11-54-36 (Este es malo!)
-
-39 - 2018-02-02-11-57-36 !
-
-40 - 2018-02-02-12-00-05 !
-
-41 - 2018-02-02-12-03-25 !
-
-42 - 2018-02-02-12-11-49 !
-
-43 - 2018-02-02-12-15-07 !
-
-44 - 2018-02-02-12-23-05 (es teleop!!!)
-
-45 - 2018-02-02-12-27-08 !
-
- - 2018-02-02-12-30-26 (Este es malo!)
-
-46 - 2018-02-02-12-31-11
-
-ROSBAGS TELEOP:
-
-1 - 2018-01-30-09-29-29 !
-
-2 - 2018-01-30-09-36-23 !
-
-3 - 2018-01-30-09-38-23 !
-
-- 2018-01-30-10-02-21 (mu raro)
-
-4 - 2018-01-30-10-04-37 !
-
- - 2018-01-30-10-08-58.bag (No va bien! no se si ira... pone lo de active)
-
- - 2018-01-30-10-32-19 NO va
-
-5 - 2018-01-30-10-54-39 ! => es teleop (joan ferrandis y victor vilchez) ya hecho!
-
- - 2018-01-30-10-59-08 (malo)
-
-6 - 2018-01-30-11-06-26 !
-
-7 - 2018-01-30-11-17-04 !
-
-8 - 2018-01-30-11-25-49 !
-
-9 - 2018-01-30-11-30-54 !
-
-10 - 2018-01-30-11-38-04 (creo que va demasiado cerca de tibi)
-
-11 - 2018-01-30-11-45-25 (creo que va demasiado cerca de tibi)
-
--->
-
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
-
- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
-
-<!-- roslaunch iri_akp_local_planner_companion model_robot_company.launch -->
- <include file="$(find iri_akp_local_planner_companion)/launch/model_robot_company.launch"/>
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen"> -->
- <!-- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" /> -->
- <!-- <remap from="~detections"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="~odom_for_medium_velocity"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.15" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/track_path_markers" type="bool" value="False" />
- </node> -->
-
-
- <!-- Front Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-0.05" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
- <!-- Rear Laser People Detector (remap)-->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.05" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.5" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- <remap from="~peopleFiltered"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(optenv ROBOT tibi)/map" />
- </node> -->
-
-
-
-<!-- iri_akp_local_planner_companion (remap) -->
- <!--launch-prefix="xterm -e ddd -args" -->
- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <!-- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht_2/tracks" /> -->
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" /> -
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
-<!-- Posible maps: fme_open_destinations_4_dest.txt and brl_balcon.txt -->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_akp_local_planner_companion)/maps/brl_balcon.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/iri_ws/src/iri_navigation/iri_akp_local_planner_companion/rosbags/rosbags_real_exp_journal_2018/g4_rosbags/txt_results/results_robot90.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot90.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node>
-
- </group>
-
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi).rviz" />
-
-
-</launch>
diff --git a/launch/rosbags_launchs/akp5_ICRA2018_Vform.launch b/launch/rosbags_launchs/akp5_ICRA2018_Vform.launch
deleted file mode 100644
index d48e3b006fdf79e1bdb4a75427da6266ac34919f..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp5_ICRA2018_Vform.launch
+++ /dev/null
@@ -1,284 +0,0 @@
-<!-- -->
-<launch>
-
-<param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args=" --clock --pause -l $(find iri_atr_akp_local_planner_companion)/bags/real_results_ICRA2019_FME/2018-09-12-17-15-03.bag"/>
-
-<!-- Rosbags akp_companion!!! (paper journal2018) -->
-<!-- -
-
-Bags buenos para los videos:
-
-BRL dia 1, robot posicion central:
- 2018-09-20-10-59-36.bag (video real: DSC_5521.MOV)
-
-BRL dia2, robot posicion lateral:
- 2018-09-21-10-34-09.bag (video real: DSC_5534.MOV)
-
-FME, rosbag fake, person:
-
-2018-09-12-17-04-10.bag
-
-2018-09-12-17-06-55.bag
-
-2018-09-12-17-08-54.bag
-
-2018-09-12-17-12-11.bag (fake person imagenes)
-
-
-2018-09-12-17-15-03.bag
-
-2018-09-12-17-17-12.bag
-
-
-mirar si me interesa alguno más...
-
-
-TODO: mirar todos los demás bags para corregir errores y cosas...
-
-FME (all rosbags):
-
-
-BRL dia 1 (all rosbags):
-
-(1) 2018-09-20-10-17-43.bag
-
-(2) 2018-09-20-10-41-33.bag (ROSBAG MALO)
-
-(3) 2018-09-20-10-47-18.bag (lateral, alejandro y yo)
-
-(4) 2018-09-20-10-59-36.bag
-
-(5) 2018-09-20-11-07-08.bag
-
-(6) 2018-09-20-11-16-38.bag
-
-(7) 2018-09-20-11-28-38.bag
-
-(8) 2018-09-20-11-41-42.bag
-
-(9) 2018-09-20-11-46-50.bag
-
-(10) 2018-09-20-11-48-13.bag
-
-(11) 2018-09-20-11-58-01.bag
-
-(12) 2018-09-20-12-02-54.bag
-
-
-BRL dia 2 (all rosbags):
-
-2018-09-21-10-24-52.bag (yo y fernando)
-
-2018-09-21-10-33-21.bag (malo)
-
--->
-
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
-
- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
-
-<!-- roslaunch iri_akp_local_planner_companion model_robot_company.launch -->
- <include file="$(find iri_atr_akp_local_planner_companion)/launch/model_robot_company.launch"/>
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen">
- <!-- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" /> -->
- <remap from="/$(optenv ROBOT tibi)/mht_2/detections"
- to="/$(optenv ROBOT tibi)/lpmf/peopleMapFiltered" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom_for_medium_velocity"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.15" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/track_path_markers" type="bool" value="False" />
- </node>
-
-
- <!-- Front Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-0.05" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
- <!-- Rear Laser People Detector (remap)-->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.05" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.5" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- <remap from="~peopleFiltered"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(optenv ROBOT tibi)/map" />
- </node> -->
-
-
-
-<!-- iri_akp_local_planner_companion (remap) -->
- <!--launch-prefix="xterm -e ddd -args" -->
- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <!--<remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" /> -->
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" /> -
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
-<!-- Posible maps: fme_open_destinations_4_dest.txt and brl_balcon.txt -->
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_atr_akp_local_planner_companion)/maps/fme_open_Vform.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/iri_ws/src/iri_navigation/iri_akp_local_planner_companion/rosbags/rosbags_real_exp_journal_2018/g4_rosbags/txt_results/results_robot90.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot90.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node>
-
- </group>
-
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_akp_local_planner_companion)/config/$(optenv ROBOT tibi).rviz" />
-
-
-</launch>
diff --git a/launch/rosbags_launchs/akp6_TEO_comparation_Vform_and_SideBySide.launch b/launch/rosbags_launchs/akp6_TEO_comparation_Vform_and_SideBySide.launch
deleted file mode 100644
index 5b3918636d63dc847a4e144864ca44972a8e600f..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp6_TEO_comparation_Vform_and_SideBySide.launch
+++ /dev/null
@@ -1,420 +0,0 @@
-<!-- -->
-<launch>
-
-<param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args=" --clock --pause -l /home/erepiso/results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/04_12_2018/4_12_2018_teo/2018-12-04-11-26-18.bag"/>
-
-<!-- Rosbags Comparación Side-by-Side y Vform !!! -->
-<!--
-
-Rosbag test con todos los topics: jueves8_del_11_exp_people_IRI/2018-11-08-16-47-53.bag
-
-
-Test, bag. V1. Aun no va del todo bien, no esta todo grabado: test_en_mi_ordenador_topics_a_grabar/subset_2018-11-12-15-34-41.bag
-
-
-Test en mi ordenador, para grabar todos los topics necesarios: test_en_mi_ordenador_topics_a_grabar/subset_2018-11-13-12-06-13.bag
-
-Test con ricard y carlos: miercoles_14_11_2018_ricard_y_carlos/subset_2018-11-14-16-03-25.bag
-
-
-Test antes colejios: /test_dia_20/subset_2018-11-20-14-57-45.bag
-/test_dia_20/subset_2018-11-20-15-05-58.bag
-/test_dia_20/subset_2018-11-20-15-28-48.bag
-/test_dia_20/subset_2018-11-20-15-44-53.bag.active (sin el active)
-subset_2018-11-20-16-46-47.bag
-subset_2018-11-20-16-57-44.bag
-
-
-rosbags: 29/11/2018
-
-malo: 2018-11-29-15-11-16.bag
-
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-08-37.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-08-39.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-12-02.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-12-01.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-21-21.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-21-20.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-31-02.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-31-00.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-44-04.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-44-04.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-54-33.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-54-32.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-15-05.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-15-04.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-28-57.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-28-56.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-35-19.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-35-18.bag
-
-
-
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
- rosbags => results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
-rviz => $(find tibi_dabo_apps)/rviz/teo_tibi.rviz
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
- rosbags database 29/11/2018: tarde_buenos: MAPA, para ellos:
-
- G1 (15:00):
- V1, IDA, V-form-Central (SOLO IDA) => V-form poco marcada. No me la dejaron hacer mejor. == V
- tibi: subset_2018-11-29-15-08-37.bag
- teo: 2018-11-29-12-05-07.bag
- V1, IDA parte2, V-form-Central + Vuelta, Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-15-12-02.bag
- teo: 2018-11-29-15-12-01.bag
-
- G2 (15:15):
- V2, IDA, V-form-lateral (hasta el final no se consigue poner a Tibi en la "V"==V) + Vuelta, Side-by-side-central (si, pero cerraban un poco a Tibi y es un poco V==V)
- tibi: subset_2018-11-29-15-21-21.bag
- teo: 2018-11-29-15-21-20.bag
-
- G3 (15:30):
- V1, IDA, V-form-Central (al principio es más side-by-side que V-form ya que si me separaba, se parban =side) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-31-02.bag
- teo: 2018-11-29-15-31-00.bag
-
- G4 (15:45):
- V2, IDA, NO V-form-lateral (ES MAS SIDE-by-SIDE, al ser tibi lenta, no se consigue bien=side) + Vuelta, Side-by-side-central (se parece a V-form porque no dejan a Tibi adelantarse=V-form)
- tibi: subset_2018-11-29-15-44-04.bag
- teo: 2018-11-29-15-44-04.bag
-
- G5 (16:00): ****
- V1, IDA, V-form-Central (V poco marcada al principio=Vform) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-54-33.bag
- teo: 2018-11-29-15-54-32.bag
-
-
- G6 (16:15):
- V2, IDA, V-form-lateral (Tibi hace V-form, pero la gente hace side-by-side) + Vuelta, Side-by-side-central (ok)
- tibi: subset_2018-11-29-16-15-05.bag
- teo: 2018-11-29-16-15-04.bag
-
-
- G7 (16:30):
- V1, IDA (SOLO), V-form-Central (ok) + Vuelta, Side-by-side-Lateral
- tibi: subset_2018-11-29-16-28-57.bag
- teo: 2018-11-29-16-28-56.bag
-
- G7 (16:30):
- V1, Vuelta (SOLO), Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-16-35-19.bag
- teo: 2018-11-29-16-35-18.bag
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 03/12/2018: tarde_buenos: MAPA, para ellos:
-
- G8 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-11-22-13.bag
- Teo: 2018-12-03-12-59-51.bag (parte 1 rosbag. Habrá que arreglarlos)
- G9 (11:45):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más bien side-by-side).
- tibi: subset_2018-12-03-11-41-05.bag
- Teo: 2018-12-03-12-59-51.bag (parte 2 rosbag. Habrá que arreglarlos)
- G10 (13:00):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-13-02-37.bag
- Teo: 2018-12-03-13-02-33.bag
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 04/12/2018: tarde_buenos: MAPA, para ellos:
-
- G11 (11:00):
- V1, IDA, Side-by-side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-04-11-11-04.bag
- Teo: 2018-12-04-11-11-01.bag
- G12 (11:15): [SOLO Ida]
- V1, IDA, Side-by-side-Central (Ok)
- tibi: subset_2018-12-04-11-27-34.bag (solo IDA)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G12 (11:15): [SOLO vuelta]
- V1, => V-form - Lateral (ok)
- tibi: subset_2018-12-04-11-31-49.bag (solo vuelta)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G13 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más side-by-side que V-form).
- tibi: subset_2018-12-04-11-43-51.bag
- Teo: 2018-12-04-11-43-48.bag (Ida y vuelta, creo k largo)
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 05/12/2018: tarde_buenos: MAPA, para ellos:
-
- G14 (12:20):
- V1, IDA, V-form-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-23-25.bag
- Teo: 2018-12-05-12-23-31.bag
-
- G15 (12:30):
- V1, IDA, V-form-Central (Ok),
- tibi: subset_2018-12-05-12-30-12.bag
- Teo: 2018-12-05-12-30-19.bag
- G15 (12:30):
- V1, vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-35-47.bag
- Teo: 2018-12-05-12-35-52.bag
-
- G16 (16:15):
- V1, IDA, Side-by-Side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-16-19-24.bag
- Teo: 2018-12-05-16-19-29.bag
- G17 (16:30):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-35-04.bag
- Teo: 2018-12-05-16-35-05.bag
-
- G18 (16:55):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-51-27.bag
- Teo: 2018-12-05-16-51-43.bag
-
-
- G19 (17:00):
- V1, IDA, Side-by-side- central (Ok), vuelta => V.form - Lateral (ok).
- tibi: subset_2018-12-05-17-10-38.bag
- Teo: 2018-12-05-17-10-46.bag
-
-
- G20 (17:15):
- V1, IDA, Side-by-side-Central (Ok), (Intente V, pero es tan poco marcada k es más side-by-side
- tibi: subset_2018-12-05-17-16-24.bag
- Teo: 2018-12-05-17-16-29.bag
- G20 (17:15):
- V1, vuelta => Side-by-side - Lateral (ok).
- tibi: subset_2018-12-05-17-22-01.bag
- Teo: 2018-12-05-17-22-07.bag
--->
-
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
-
- <!-- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />-->
-
-
-<!-- roslaunch iri_akp_local_planner_companion model_robot_company.launch -->
- <!--<include file="$(find iri_atr_akp_local_planner_companion)/launch/model_robot_company.launch"/>-->
-
- <!--<group ns="$(optenv ROBOT tibi)"> -->
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen"> -->
- <!-- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" /> -->
- <!-- <remap from="/$(optenv ROBOT tibi)/mht_2/detections"
- to="/$(optenv ROBOT tibi)/lpmf/peopleMapFiltered" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom_for_medium_velocity"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.15" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/track_path_markers" type="bool" value="False" />
- </node> -->
-
-
- <!-- Front Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-0.05" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
- <!-- Rear Laser People Detector (remap)-->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.05" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.5" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- <remap from="~peopleFiltered"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(optenv ROBOT tibi)/map" />
- </node> -->
-
-
-
-<!-- iri_akp_local_planner_companion (remap) -->
- <!--launch-prefix="xterm -e ddd -args" -->
- <!-- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" /> -->
- <!--<remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" /> -->
- <!-- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" /> -
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />-->
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
-<!-- Posible maps: fme_open_destinations_4_dest.txt and brl_balcon.txt -->
- <!-- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_atr_akp_local_planner_companion)/maps/fme_open_Vform.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/iri_ws/src/iri_navigation/iri_akp_local_planner_companion/rosbags/rosbags_real_exp_journal_2018/g4_rosbags/txt_results/results_robot90.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot90.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node> -->
-
- <!--</group>-->
-
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_akp_local_planner_companion)/config/TEO_comparacion_Vform_sideBySide.rviz" />
-
-
-</launch>
diff --git a/launch/rosbags_launchs/akp6_Tibi_comparacion_teleop_Vform_Side_by_side.launch b/launch/rosbags_launchs/akp6_Tibi_comparacion_teleop_Vform_Side_by_side.launch
deleted file mode 100644
index 20799e772ae80306082a34c3d5bd1a042658510f..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp6_Tibi_comparacion_teleop_Vform_Side_by_side.launch
+++ /dev/null
@@ -1,418 +0,0 @@
-<!-- -->
-<launch>
-
-<param name="use_sim_time" value="true"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag"
- args=" --clock --pause -l -r 4 /home/erepiso/results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/17_12_2018/17_12_2018_tibi/subset_2018-12-17-16-59-15.bag"/>
-
-<!-- Rosbags Comparación Side-by-Side y Vform !!! -->
-<!--
-
-Rosbag test con todos los topics: jueves8_del_11_exp_people_IRI/2018-11-08-16-47-53.bag
-
-
-Test, bag. V1. Aun no va del todo bien, no esta todo grabado: test_en_mi_ordenador_topics_a_grabar/subset_2018-11-12-15-34-41.bag
-
-
-Test en mi ordenador, para grabar todos los topics necesarios: test_en_mi_ordenador_topics_a_grabar/subset_2018-11-13-12-06-13.bag
-
-Test con ricard y carlos: miercoles_14_11_2018_ricard_y_carlos/subset_2018-11-14-16-03-25.bag
-
-
-Test antes colejios: /test_dia_20/subset_2018-11-20-14-57-45.bag
-/test_dia_20/subset_2018-11-20-15-05-58.bag
-/test_dia_20/subset_2018-11-20-15-28-48.bag
-/test_dia_20/subset_2018-11-20-15-44-53.bag.active (sin el active)
-subset_2018-11-20-16-46-47.bag
-subset_2018-11-20-16-57-44.bag
-
-
-rosbags: 29/11/2018
-
-
-
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-08-37.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-08-39.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-12-02.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-12-01.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-21-21.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-21-20.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-31-02.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-31-00.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-44-04.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-44-04.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-15-54-33.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-15-54-32.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-15-05.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-15-04.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-28-57.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-28-56.bag
-
-tibi: 29_11_2018/29_11_2018_tibi/subset_2018-11-29-16-35-19.bag
-teo: 29_11_2018/29_11_2018_teo/2018-11-29-16-35-18.bag
-
-
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-tibi: 29_11_2018/29_11_2018_tibi/
-teo: 29_11_2018/29_11_2018_teo/
-
-
- rosbags => results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
-rviz => $(find tibi_dabo_apps)/rviz/teo_tibi.rviz
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
- rosbags database 29/11/2018: tarde_buenos: MAPA, para ellos:
-
- G1 (15:00):
- V1, IDA, V-form-Central (SOLO IDA) => V-form poco marcada. No me la dejaron hacer mejor. == V
- tibi: subset_2018-11-29-15-08-37.bag
- teo: 2018-11-29-12-05-07.bag
- V1, IDA parte2, V-form-Central + Vuelta, Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-15-12-02.bag
- teo: 2018-11-29-15-12-01.bag
-
- G2 (15:15):
- V2, IDA, V-form-lateral (hasta el final no se consigue poner a Tibi en la "V"==V) + Vuelta, Side-by-side-central (si, pero cerraban un poco a Tibi y es un poco V==V)
- tibi: subset_2018-11-29-15-21-21.bag
- teo: 2018-11-29-15-21-20.bag
-
- G3 (15:30):
- V1, IDA, V-form-Central (al principio es más side-by-side que V-form ya que si me separaba, se parban =side) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-31-02.bag
- teo: 2018-11-29-15-31-00.bag
-
- G4 (15:45):
- V2, IDA, NO V-form-lateral (ES MAS SIDE-by-SIDE, al ser tibi lenta, no se consigue bien=side) + Vuelta, Side-by-side-central (se parece a V-form porque no dejan a Tibi adelantarse=V-form)
- tibi: subset_2018-11-29-15-44-04.bag
- teo: 2018-11-29-15-44-04.bag
-
- G5 (16:00): ****
- V1, IDA, V-form-Central (V poco marcada al principio=Vform) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-54-33.bag
- teo: 2018-11-29-15-54-32.bag
-
-
- G6 (16:15):
- V2, IDA, V-form-lateral (Tibi hace V-form, pero la gente hace side-by-side) + Vuelta, Side-by-side-central (ok)
- tibi: subset_2018-11-29-16-15-05.bag
- teo: 2018-11-29-16-15-04.bag
-
-
- G7 (16:30):
- V1, IDA (SOLO), V-form-Central (ok) + Vuelta, Side-by-side-Lateral
- tibi: subset_2018-11-29-16-28-57.bag
- teo: 2018-11-29-16-28-56.bag
-
- G7 (16:30):
- V1, Vuelta (SOLO), Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-16-35-19.bag
- teo: 2018-11-29-16-35-18.bag
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 03/12/2018: tarde_buenos: MAPA, para ellos:
-
- G8 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-11-22-13.bag
- Teo: 2018-12-03-12-59-51.bag (parte 1 rosbag. Habrá que arreglarlos)
- G9 (11:45):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más bien side-by-side).
- tibi: subset_2018-12-03-11-41-05.bag
- Teo: 2018-12-03-12-59-51.bag (parte 2 rosbag. Habrá que arreglarlos)
- G10 (13:00):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-13-02-37.bag
- Teo: 2018-12-03-13-02-33.bag
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 04/12/2018: tarde_buenos: MAPA, para ellos:
-
- G11 (11:00):
- V1, IDA, Side-by-side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-04-11-11-04.bag
- Teo: 2018-12-04-11-11-01.bag
- G12 (11:15): [SOLO Ida]
- V1, IDA, Side-by-side-Central (Ok)
- tibi: subset_2018-12-04-11-27-34.bag (solo IDA)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G12 (11:15): [SOLO vuelta]
- V1, => V-form - Lateral (ok)
- tibi: subset_2018-12-04-11-31-49.bag (solo vuelta)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G13 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más side-by-side que V-form).
- tibi: subset_2018-12-04-11-43-51.bag
- Teo: 2018-12-04-11-43-48.bag (Ida y vuelta, creo k largo)
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/05_12_2018/
- rosbags database 05/12/2018: tarde_buenos: MAPA, para ellos:
-
- G14 (12:20):
- V1, IDA, V-form-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-23-25.bag
- Teo: 2018-12-05-12-23-31.bag
-
- G15 (12:30):
- V1, IDA, V-form-Central (Ok),
- tibi: subset_2018-12-05-12-30-12.bag
- Teo: 2018-12-05-12-30-19.bag
- G15 (12:30):
- V1, vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-35-47.bag
- Teo: 2018-12-05-12-35-52.bag
-
- G16 (16:15):
- V1, IDA, Side-by-Side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-16-19-24.bag
- Teo: 2018-12-05-16-19-29.bag
- G17 (16:30):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-35-04.bag
- Teo: 2018-12-05-16-35-05.bag
-
- G18 (16:55):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-51-27.bag
- Teo: 2018-12-05-16-51-43.bag
-
-
- G19 (17:00):
- V1, IDA, Side-by-side- central (Ok), vuelta => V.form - Lateral (ok).
- tibi: subset_2018-12-05-17-10-38.bag
- Teo: 2018-12-05-17-10-46.bag
-
-
- G20 (17:15):
- V1, IDA, Side-by-side-Central (Ok), (Intente V, pero es tan poco marcada k es más side-by-side
- tibi: subset_2018-12-05-17-16-24.bag
- Teo: 2018-12-05-17-16-29.bag
- G20 (17:15):
- V1, vuelta => Side-by-side - Lateral (ok).
- tibi: subset_2018-12-05-17-22-01.bag
- Teo: 2018-12-05-17-22-07.bag
-
--->
-
-
- <arg name="map" default="2" />
-
- <!-- load robot defined machines -->
-
- <!-- <include file="$(find tibi_dabo_base)/machines/$(optenv ROBOT tibi)_$(env ROS_MODE).machines" />
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />-->
-
-
-<!-- roslaunch iri_akp_local_planner_companion model_robot_company.launch -->
- <include file="$(find iri_atr_akp_local_planner_companion)/launch/model_robot_company.launch"/>
-
- <!--<group ns="$(optenv ROBOT tibi)"> -->
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2"
- output="screen"> -->
- <!-- <remap from="/mht_2/detections"
- to="/lpd_2/peopleMapFiltered" /> -->
- <!-- <remap from="/$(optenv ROBOT tibi)/mht_2/detections"
- to="/$(optenv ROBOT tibi)/lpmf/peopleMapFiltered" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/mht_2/odom_for_medium_velocity"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.15" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/track_path_markers" type="bool" value="False" />
- </node> -->
-
-
- <!-- Front Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-0.05" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
- <!-- Rear Laser People Detector (remap)-->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.05" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- </node> -->
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.5" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/$(optenv ROBOT tibi)/lpd_2/people" />
- <remap from="~peopleFiltered"
- to="/$(optenv ROBOT tibi)/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(optenv ROBOT tibi)/map" />
- </node> -->
-
-
-
-<!-- iri_akp_local_planner_companion (remap) -->
- <!--launch-prefix="xterm -e ddd -args" -->
- <!-- <node pkg ="move_base"
- type="move_base"
- name="move_base2"
- machine="nav"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel2" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" /> -->
- <!--<remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" /> -->
- <!-- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/move_base2/goal"
- to="/$(optenv ROBOT tibi)/move_base/goal" /> -
- <remap from="/$(optenv ROBOT tibi)/planner_markers"
- to="/$(optenv ROBOT tibi)/planner_markers2" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_atr_akp_local_planner_companion)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />-->
- <!--<param name="AkpLocalPlanner/force_map_path" value="$(find iri_akp_local_planner)/maps/$(arg map)_forces.txt" />-->
-<!-- Posible maps: fme_open_destinations_4_dest.txt and brl_balcon.txt -->
- <!-- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_atr_akp_local_planner_companion)/maps/fme_open_Vform.txt" />
- <param name="AkpLocalPlanner/results_filename" value="$(env HOME)/iri-lab/iri_ws/src/iri_navigation/iri_akp_local_planner_companion/rosbags/rosbags_real_exp_journal_2018/g4_rosbags/txt_results/results_robot90.txt" />
- <param name="AkpLocalPlanner/debug_filename" value="$(env HOME)/iri-lab/labrobotica/restricted/algorithms/people_prediction/branches/ely_people_prediction_companion_robot/data_results/debug_robot90.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- </node> -->
-
- <!--</group>-->
-
-
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iri_akp_local_planner_companion)/config/tibi_comparacion_Vform_sideBySide.rviz" />
-
-
-</launch>
diff --git a/launch/rosbags_launchs/akp6_rosbags_iri_mht_rosbag_database_comparation_Vform_and_SideBySide.launch b/launch/rosbags_launchs/akp6_rosbags_iri_mht_rosbag_database_comparation_Vform_and_SideBySide.launch
deleted file mode 100644
index c3ee6301084c8521b3602bcc8cee814d0eb83790..0000000000000000000000000000000000000000
--- a/launch/rosbags_launchs/akp6_rosbags_iri_mht_rosbag_database_comparation_Vform_and_SideBySide.launch
+++ /dev/null
@@ -1,528 +0,0 @@
-<!-- -->
-<launch>
-
- <!-- <param name="use_sim_time" value="true"/> usar tiempo simulacion en vez de la maquina para ros_time -->
-
-
- <arg name="filename1" default="29_11_2018_teo/2018-11-29-12-05-07.bag"/>
- <arg name="filename2" default="29_11_2018_tibi/subset_2018-11-29-15-08-37.bag"/>
- <arg name="delay" default="0.7"/>
- <arg name="path" default="results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/"/>
- <arg name="rate" default="0.5"/>
-
-<!-- $(find iri_akp_local_planner_companion)/rosbags_akp_learning_parametros_fuerzas/rosbags_database/8_junio -->
-<!-- rosbags_akp_learning_parametros_fuerzas/rosbags_database/9_junio-->
- <param name="use_sim_time" value="false"/>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag1"
- args="$(env DATASET_PATH)/$(arg path)/$(arg filename1).bag -r $(arg rate)"
- output="screen">
- </node>
-
- <node pkg="rosbag"
- type="play"
- name="rosbag2"
- args="$(env DATASET_PATH)/$(arg path)/$(arg filename2).bag -r $(arg rate) -d $(arg delay)"
- output="screen">
- </node>
-
- <!-- tibi_tibi urdf model -->
- <!-- <param name="robot_description" command="cat $(find tibi_dabo_base)/model/tibi_base.urdf" /> -->
- <!-- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="real_scen_final9"/>
- </include> -->
-
- <!-- -s (segundos inicio) -->
-
- <!--
- rosbags => results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
-rviz => $(find tibi_dabo_apps)/rviz/teo_tibi.rviz
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/29_11_2018/
- rosbags database 29/11/2018: tarde_buenos: MAPA, para ellos:
-
- G1 (15:00):
- V1, IDA, V-form-Central (SOLO IDA) => V-form poco marcada. No me la dejaron hacer mejor. == V
- tibi: subset_2018-11-29-15-08-37.bag
- teo: 2018-11-29-12-05-07.bag
- V1, IDA parte2, V-form-Central + Vuelta, Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-15-12-02.bag
- teo: 2018-11-29-15-12-01.bag
-
- G2 (15:15):
- V2, IDA, V-form-lateral (hasta el final no se consigue poner a Tibi en la "V"==V) + Vuelta, Side-by-side-central (si, pero cerraban un poco a Tibi y es un poco V==V)
- tibi: subset_2018-11-29-15-21-21.bag
- teo: 2018-11-29-15-21-20.bag
-
- G3 (15:30):
- V1, IDA, V-form-Central (al principio es más side-by-side que V-form ya que si me separaba, se parban =side) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-31-02.bag
- teo: 2018-11-29-15-31-00.bag
-
- G4 (15:45):
- V2, IDA, NO V-form-lateral (ES MAS SIDE-by-SIDE, al ser tibi lenta, no se consigue bien=side) + Vuelta, Side-by-side-central (se parece a V-form porque no dejan a Tibi adelantarse=V-form)
- tibi: subset_2018-11-29-15-44-04.bag
- teo: 2018-11-29-15-44-04.bag
-
- G5 (16:00): ****
- V1, IDA, V-form-Central (V poco marcada al principio=Vform) + Vuelta, Side-by-side-Lateral (OK)
- tibi: subset_2018-11-29-15-54-33.bag
- teo: 2018-11-29-15-54-32.bag
-
-
- G6 (16:15):
- V2, IDA, V-form-lateral (Tibi hace V-form, pero la gente hace side-by-side) + Vuelta, Side-by-side-central (ok)
- tibi: subset_2018-11-29-16-15-05.bag
- teo: 2018-11-29-16-15-04.bag
-
-
- G7 (16:30):
- V1, IDA (SOLO), V-form-Central (ok) + Vuelta, Side-by-side-Lateral
- tibi: subset_2018-11-29-16-28-57.bag
- teo: 2018-11-29-16-28-56.bag
-
- G7 (16:30):
- V1, Vuelta (SOLO), Side-by-side-Lateral (ok)
- tibi: subset_2018-11-29-16-35-19.bag
- teo: 2018-11-29-16-35-18.bag
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 03/12/2018: tarde_buenos: MAPA, para ellos:
-
- G8 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-11-22-13.bag
- Teo: 2018-12-03-12-59-51.bag (parte 1 rosbag. Habrá que arreglarlos)
- G9 (11:45):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más bien side-by-side).
- tibi: subset_2018-12-03-11-41-05.bag
- Teo: 2018-12-03-12-59-51.bag (parte 2 rosbag. Habrá que arreglarlos)
- G10 (13:00):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (ok).
- tibi: subset_2018-12-03-13-02-37.bag
- Teo: 2018-12-03-13-02-33.bag
-
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/03_12_2018/
- rosbags database 04/12/2018: tarde_buenos: MAPA, para ellos:
-
- G11 (11:00):
- V1, IDA, Side-by-side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-04-11-11-04.bag
- Teo: 2018-12-04-11-11-01.bag
- G12 (11:15): [SOLO Ida]
- V1, IDA, Side-by-side-Central (Ok)
- tibi: subset_2018-12-04-11-27-34.bag (solo IDA)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G12 (11:15): [SOLO vuelta]
- V1, => V-form - Lateral (ok)
- tibi: subset_2018-12-04-11-31-49.bag (solo vuelta)
- Teo: 2018-12-04-11-27-30.bag (Ida y vuelta, creo k largo)
- G13 (11:30):
- V1, IDA, Side-by-side-Central (Ok) => V-form - Lateral (es más side-by-side que V-form).
- tibi: subset_2018-12-04-11-43-51.bag
- Teo: 2018-12-04-11-43-48.bag (Ida y vuelta, creo k largo)
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/05_12_2018/
- rosbags database 05/12/2018: tarde_buenos: MAPA, para ellos:
-
- G14 (12:20):
- V1, IDA, V-form-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-23-25.bag
- Teo: 2018-12-05-12-23-31.bag
-
- G15 (12:30):
- V1, IDA, V-form-Central (Ok),
- tibi: subset_2018-12-05-12-30-12.bag
- Teo: 2018-12-05-12-30-19.bag
- G15 (12:30):
- V1, vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-12-35-47.bag
- Teo: 2018-12-05-12-35-52.bag
-
- G16 (16:15):
- V1, IDA, Side-by-Side-Central (Ok), vuelta => V-form - Lateral (ok).
- tibi: subset_2018-12-05-16-19-24.bag
- Teo: 2018-12-05-16-19-29.bag
- G17 (16:30):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-35-04.bag
- Teo: 2018-12-05-16-35-05.bag
-
- G18 (16:55):
- V1, IDA, V-form-Central (Ok), vuelta => Side-by-Side - Lateral (ok).
- tibi: subset_2018-12-05-16-51-27.bag
- Teo: 2018-12-05-16-51-43.bag
-
-
- G19 (17:00):
- V1, IDA, Side-by-side- central (Ok), vuelta => V.form - Lateral (ok).
- tibi: subset_2018-12-05-17-10-38.bag
- Teo: 2018-12-05-17-10-46.bag
-
-
- G20 (17:15):
- V1, IDA, Side-by-side-Central (Ok), (Intente V, pero es tan poco marcada k es más side-by-side
- tibi: subset_2018-12-05-17-16-24.bag
- Teo: 2018-12-05-17-16-29.bag
- G20 (17:15):
- V1, vuelta => Side-by-side - Lateral (ok).
- tibi: subset_2018-12-05-17-22-01.bag
- Teo: 2018-12-05-17-22-07.bag
-
- Folder: $results_tibi/1_rosbags_teleop_comparacion_SideBySide_Vform/17_12_2018/
- rosbags database 17/12/2018: tarde_buenos: MAPA, para ellos:
-
- G21 (15:30): [ok] --- Rosbags TIbi MAL localizado
- V1, Ida => V-form - central (ok).
- tibi: subset_2018-12-17-15-35-47.bag (IDA) == Rosbag mal localizado. Ya veré como arreglarlo.
- Teo: 2018-12-17-15-35-50.bag (este esta ok. Se podrÃÂan sacar de aquàlas posiciones)
- V1, vuelta => V-form - lateral (ok).
- tibi: subset_2018-12-17-15-38-08.bag (vuelta) == Rosbag mal localizado. Ya veré como
- Teo: 2018-12-17-15-38-07.bag (este esta ok. Se podrÃÂan sacar de aquàlas posiciones)
-
- G22 (15:45): [OK] --- Rosbags TIbi MAL localizado
- V1, Ida => side-by-side - central (ok) == SIDE-by-SIde, parece más eso.
- tibi: subset_2018-12-17-15-49-03.bag (IDA) == Rosbag mal localizado. Ya veré como arreglarlo.
- Teo: 2018-12-17-15-49-01.bag (este esta ok. Se podrÃÂan sacar de aquàlas posiciones)
- V1, vuelta => V-form - lateral (ok).
- tibi: subset_2018-12-17-15-54-21.bag (vuelta) == Rosbag mal localizado. Ya veré como
- Teo: 2018-12-17-15-54-19.bag (este esta ok. Se podrÃÂan sacar de aquàlas posiciones)
-
-
- G23 (16:15): [ok]
- V1, (parte1-IDA) =>V-form - central (ok) == SIDE-by-SIde, parece más eso.
- tibi: subset_2018-12-17-16-10-25.bag (parte1-IDA) == Rosbag mal localizado. Ya veré como arreglarlo.
- Teo: 2018-12-17-16-10-23.bag (este esta ok. Se podrÃÂan sacar de aquàlas posiciones)
- V1, (parte2-IDA) =>V-form - central (ok).
- tibi: subset_2018-12-17-16-12-36.bag (vuelta) == Rosbag OK.
- Teo: 2018-12-17-16-12-34.bag
- V1, (vuelta) =>V-form - lateral (ok).
- tibi: subset_2018-12-17-16-15-33.bag (vuelta) == Rosbag OK.
- Teo: 2018-12-17-16-15-31.bag
-
- G24 (16:30): [ok] (ver si considero side-by-side o V-form)
- V1, (IDA y vuelta) =>Side-by-side - central (ok) == Vuelta - V-form-lateral
- tibi: subset_2018-12-17-16-17-48.bag == Rosbag OK. arreglarlo.
- Teo: 2018-12-17-16-17-46.bag
-
- G25 (16:45): [OK]
- V1, (IDA y vuelta) =>Side-by-side - central (ok) == Vuelta - Side-by-side -lateral
- tibi: subset_2018-12-17-16-47-55.bag == Rosbag OK. arreglarlo.
- Teo: 2018-12-17-16-47-53.bag
-
- G26 (16:45): [OK]
- V1, (IDA y vuelta) =>inicial V-form (ok) == Vuelta - Side-by-side -lateral [I!!!! La ida se podrÃÂa considerar V-form.]
- tibi: subset_2018-12-17-16-59-15.bag == Rosbag OK. arreglarlo.
- Teo: 2018-12-17-16-59-13.bag
- -->
-
-
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: output="screen" -->
- <!--<node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_2">
- <remap from="/mht_2/detections"
- to="/lpmf2/peopleMapFiltered" />
- <remap from="/mht_2/odom"
- to="/tibi/segway/odom" />
- <remap from="/mht_2/odom_for_medium_velocity"
- to="/tibi/segway/odom" />
- <remap from="/mht_2/tracks"
- to="/mhtf/tracks" />
-
- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="true"/>
- <param name="~/association_threshold" type="double" value="1.0" />
- <param name="~/confirmation_threshold" type="double" value="0.7" />
- <param name="~/deletion_threshold" type="double" value="0.5" />
- <param name="~/laser_probability" type="double" value="0.99" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.1" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" /> -->
- <!-- <param name="~/fuse_tibi_and_teo_tracks" type="bool" value="True" />
- <param name="~/generate_database_companion" type="bool" value="False" />
- </node>-->
-
-<!-- detectors -->
- <!-- Front Laser People Detector -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front2"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-1.0" />
- <param name="~jumpDistance" type="double" value="0.1" />
- <param name="~personRadius" type="double" value="0.45" />
- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(env ROBOT)/sensors/front_laser_scan" />
- <remap from="~people"
- to="/lpd/people" />
- </node>-->
-
- <!-- Rear Laser People Detector -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_rear2"
- machine="nav">
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-1.0" />-->
- <!-- <param name="~/jumpDistance" type="double" value="0.1" />-->
- <!-- <param name="~personRadius" type="double" value="0.45" />
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~/selectPosesFrame" type="bool" value="True" />
- <param name="~/posesFrame" type="string" value="/map" />
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/$(env ROBOT)/rear_laser" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/$(env ROBOT)/sensors/rear_laser_scan" />
- <remap from="~people"
- to="/lpd/people" />
- </node>-->
-
-<!-- detectors filter -->
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf2"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.25" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/lpd/people" />
- <remap from="~peopleFiltered"
- to="/lpmf2/peopleMapFiltered" />
- <remap from="~map"
- to="/$(env ROBOT)/map" />
- </node> -->
-
-
-<!-- TEO!!! -->
-
-<!-- detectors -->
- <!-- Front Laser People Detector -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd_front3"
- machine="nav">
- <param name="~rangeThreshold" type="double" value="0.0" />
- <param name="~detectionThreshold" type="double" value="-1.0" />
- <param name="~personRadius" type="double" value="0.45" /> -->
- <!-- <param name="~jumpDistance" type="double" value="0.1" />-->
- <!-- <param name="~boostFilePath" type="string" value="/usr/local/include/iridrivers/boostData/boostFile.txt" />
- <param name="~boostFilePath2" type="string" value="/usr/local/include/iridrivers/boostData/boostFile2.txt" />
- <param name="~selectPosesFrame" type="bool" value="True" />
- <param name="~posesFrame" type="string" value="/map" />
- <param name="~selectScanFrame" type="bool" value="False" />
- <param name="~scanFrame" type="string" value="/$(env ROBOT)/front_laser" />
- <param name="~markerWidth" type="double" value="0.7" />
- <param name="~markerHeight" type="double" value="0.5" />
- <param name="~markerR" type="double" value="1.0" />
- <param name="~markerG" type="double" value="0.0" />
- <param name="~markerB" type="double" value="0.0" />
- <param name="~markerA" type="double" value="0.5" />
- <param name="~filterPosesMode" type="bool" value="False" />
- <param name="~filterR" type="double" value="0.0" />
- <param name="~filterX" type="double" value="0.0" />
- <param name="~filterY" type="double" value="0.0" />
- <remap from="~scan"
- to="/teo/sensors/front_laser" />
- <remap from="~people"
- to="/lpd3/people" />
- </node> -->
-
-
-
- <!--<node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf3"
- machine="nav">
- <param name="~/neighborRadius" type="double" value="0.25" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.5" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
- <remap from="~people"
- to="/lpd3/people" />
- <remap from="~peopleFiltered"
- to="/lpmf3/peopleMapFiltered" /> -->
- <!-- ojo!!! esto era /lpmf3/peopleMapFiltered -->
- <!-- <remap from="~map"
- to="/$(env ROBOT)/map" />
- </node>
-
-
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_3">
- <remap from="/mht_3/detections"
- to="/lpmf2/peopleMapFiltered" />
- <remap from="/mht_3/odom"
- to="/teo/odom" />
- <remap from="/mht_3/odom_for_medium_velocity"
- to="/teo/odom" />
- <remap from="/mht_3/tracks"
- to="/mhtf/tracks" /> -->
- <!-- output="screen" -->
-
- <!-- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="true"/>
- <param name="~/association_threshold" type="double" value="2.0" />
- <param name="~/confirmation_threshold" type="double" value="0.8" />
- <param name="~/deletion_threshold" type="double" value="0.5" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.75" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.1" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- </node>-->
-
-
- <!-- Tracker que fusiona tracks tratandolos como detecciones a la entrada.-->
-<!--<node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht_4"
- output="screen">
- <remap from="/mht_4/detections"
- to="/lpmf2/peopleMapFiltered" />-->
- <!-- para tracks: /mhtf/tracks-->
-
- <!-- <remap from="/mht_4/odom"
- to="/tibi/odom" />
- <remap from="/mht_4/odom_for_medium_velocity"
- to="/tibi/odom" />-->
- <!-- <remap from="/mht_3/tracks"
- to="/mht/tracks" /> output="screen" -->
-
- <!-- <param name="~/frame_id" type="string" value="/map" />
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="0.3" />
- <param name="~/confirmation_threshold" type="double" value="0.6" />
- <param name="~/deletion_threshold" type="double" value="0.5" />
- <param name="~/laser_probability" type="double" value="0.99" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.99" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.1" />
- <param name="~/id_markers" type="bool" value="True" />
- <param name="~/vel_markers" type="bool" value="True" />
- <param name="~/cov_markers" type="bool" value="True" />
- <param name="~/covdet_markers" type="bool" value="False" />
- <param name="~/covpred_markers" type="bool" value="False" />
- <param name="~/clust_markers" type="bool" value="False" />
- <param name="~/cov_markers_head" type="bool" value="False" />
- <param name="~/cov_markers_arm1" type="bool" value="False" />
- <param name="~/cov_markers_arm2" type="bool" value="False" />
- <param name="~/generate_database_companion" type="bool" value="True" />
- <param name="~/fuse_tibi_and_teo_tracks" type="bool" value="True" />
- <param name="~/debug_fuse_tibi_and_teo_tracks" type="bool" value="False" />
- </node>-->
-
-
-
-
- <node name="rviz"
- pkg ="rviz"
- type="rviz"
- args="-d $(find tibi_dabo_apps)/rviz/tibi_change_id_tracks.rviz" />/>
-<!-- tibi_local.vcg => TODO: volver a poner reconfigure, para la base de datos me estorbaba-->
- <!-- <node name="reconfigure_gui"
- pkg ="rqt_reconfigure"
- type="rqt_reconfigure" />-->
-
-</launch>
diff --git a/launch/sim_gazebo/gazebo_ASSAOP_BRL.launch b/launch/sim_gazebo/gazebo_ASSAOP_BRL.launch
deleted file mode 100644
index f513a99d8a8300c7a1b7f2b6e36c91687699ace0..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/gazebo_ASSAOP_BRL.launch
+++ /dev/null
@@ -1,103 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <arg name="world" default="master_big"/> <!--Change the name: master_big with other gazebo's map name to change the map of the environemnt. -->
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="11.0"/> <!-- changes the x component of the initial robot's position inside the environment (it is in map coordinates)-->
- <arg name="robot_y" default="22.0"/> <!-- changes the y component of the initial robot's position inside the environment (it is in map coordinates)-->
- <arg name="robot_yaw" default="0.0"/> <!-- changes the initial robot's orientation inside the environment (it is in map coordinates)-->
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
-<!-- person1 is the nearest person to the robot. This person will be the accompanied one, if you use exactly our instructions included in the read-me of the node. -->
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="11.5"/> <!-- changes the x component of the initial person1's position inside the environment (it is in map coordinates). -->
- <arg name="y" value="20.0"/> <!-- changes the y component of the initial person1's position inside the environment (it is in map coordinates)-->
- <arg name="yaw" value="0.0"/> <!-- changes the initial person1's orientation inside the environment (it is in map coordinates)-->
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="11.5"/> <!-- changes the x component of the initial person2's position inside the environment (it is in map coordinates). -->
- <arg name="y" value="18.0"/> <!-- changes the y component of the initial person2's position inside the environment (it is in map coordinates)-->
- <arg name="yaw" value="0.0"/> <!-- changes the initial person2's orientation inside the environment (it is in map coordinates)-->
-
- </include>
-
-
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="40.5"/>
- <arg name="y" value="17.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="40.0"/>
- <arg name="y" value="21.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<!-- You can include more people using the same structure-->
-
- <!--nav-->
- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux.launch"/>
- <!-- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/> -->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <!-- ASSAOP- gazebo only-->
- <include file="$(find iri_robot_assaop)/launch/sim_gazebo/tibi_dabo_akp_local_ASSAOP.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--/nav-->
-
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
-
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find tibi_dabo_apps)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/sim_gazebo/sim_companion.launch b/launch/sim_gazebo/sim_companion.launch
deleted file mode 100644
index 044f0396b83bba84bb242ebc05f3a0ac9f4d0c8f..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/sim_companion.launch
+++ /dev/null
@@ -1,173 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <!--sim-->
-<!-- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="11.5"/>
- <arg name="robot_y" default="7.3"/>
- <arg name="robot_yaw" default="0.0"/>-->
-
-
- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="3"/>
- <arg name="robot_y" default="8"/>
- <arg name="robot_yaw" default="3.14"/>
-
- <!-- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="9.3"/>
- <arg name="robot_yaw" default="-1.57"/>-->
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)_lasers"/> <!-- $(arg robot)_lasers_simple -->
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
-
- <!--
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot_simple.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)_lasers"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
--->
-
-
-
-<!--
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="9.0"/>
- <arg name="yaw" value="-1.57"/>
- </include>
--->
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="3.0"/>
- <arg name="y" value="6.5"/>
- <arg name="yaw" value="3.14"/>
- </include>
-
-
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person_legs"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="7.0"/>
- <arg name="yaw" value="-1.57"/>
- </include> -->
-
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="1.0"/>
- <arg name="y" value="3.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="3.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-2.0"/>
- <arg name="y" value="10.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person5"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-1.0"/>
- <arg name="y" value="10.5"/>
- <arg name="yaw" value="-1.57"/>
- </include> -->
-
- <!-- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box1"/>
- <arg name="x" value="-2.0"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="2.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box2"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="2.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include> -->
- <!--/sim-->
-
- <!--nav-->
- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux_direct.launch"/>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/>-->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <!-- <arg name="map" value="fme_open"/> -->
- <arg name="map" value="sim/fme_open_obstacles_akp"/>
- </include>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <include file="$(find iri_akp_local_planner_companion)/launch/akp.launch">
- <arg name="map" value="fme_open"/>
- </include>
- <!--/nav-->
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find tibi_dabo_apps)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/sim_gazebo/sim_companion_obst_people.launch b/launch/sim_gazebo/sim_companion_obst_people.launch
deleted file mode 100644
index 318196efe9669d91af60457f68c9d5c96c08092c..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/sim_companion_obst_people.launch
+++ /dev/null
@@ -1,246 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <!--sim-->
- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="7.0"/>
- <arg name="robot_yaw" default="-1.57"/>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)_lasers"/> <!-- $(arg robot)_lasers_simple -->
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="7.0"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-1.5"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-2.5"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person5"/>
- <arg name="type" value="person"/>
- <arg name="x" value="1.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-
-
- <!--
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot_simple.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)_lasers"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
--->
-
-
-
-
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person_legs"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="7.0"/>
- <arg name="yaw" value="-1.57"/>
- </include> -->
-
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="1.0"/>
- <arg name="y" value="3.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="3.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-2.0"/>
- <arg name="y" value="10.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person5"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-1.0"/>
- <arg name="y" value="10.5"/>
- <arg name="yaw" value="-1.57"/>
- </include> -->
-
- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box1"/>
- <arg name="x" value="-2.0"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box2"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-<!--
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box3"/>
- <arg name="x" value="2.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box4"/>
- <arg name="x" value="-2.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box5"/>
- <arg name="x" value="-3.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box6"/>
- <arg name="x" value="3.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box7"/>
- <arg name="x" value="-4.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box8"/>
- <arg name="x" value="4.5"/>
- <arg name="y" value="0.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include> -->
-
-
- <!--/sim-->
-
- <!--nav-->
- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux.launch"/>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/>-->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="sim/master_big"/>
- </include>
- <!--/nav=>map=sim/fme_open_obstacles_akp-->
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <include file="$(find iri_akp_local_planner_companion)/launch/tibi_dabo_akp_local.launch">
- <arg name="map" value="master_big"/>
- </include>
- <!--/nav map=fme_open2-->
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find tibi_dabo_apps)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/sim_gazebo/sim_companion_people.launch b/launch/sim_gazebo/sim_companion_people.launch
deleted file mode 100644
index 94c8a3d8e8aadda028a73a74e774d662d60c875a..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/sim_companion_people.launch
+++ /dev/null
@@ -1,114 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <!--sim-->
- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="7.3"/>
- <arg name="robot_yaw" default="-1.57"/>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="7.0"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-1.5"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-2.5"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person5"/>
- <arg name="type" value="person"/>
- <arg name="x" value="1.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="1.57"/>
- </include>
-
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box1"/>
- <arg name="x" value="7.25"/>
- <arg name="y" value="10.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include> -->
-
- <!--/sim-->
-
- <!--nav-->
- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux.launch"/>
- <!-- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/> -->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <include file="$(find iri_akp_local_planner_companion)/launch/tibi_dabo_akp_local.launch">
- <arg name="map" value="fme_open2"/>
- </include>
- <!--/nav-->
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find tibi_dabo_apps)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/sim_gazebo/sim_companion_people_go_target_person.launch b/launch/sim_gazebo/sim_companion_people_go_target_person.launch
deleted file mode 100644
index 478b7fd89e939e69a27cf4a9fb76227967c2b648..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/sim_companion_people_go_target_person.launch
+++ /dev/null
@@ -1,176 +0,0 @@
-<!-- -->
-<!--
- Need to add gazebo PATHS to iri_gazebo_worlds in your ~/.bashrc
- source /usr/share/gazebo/setup.sh
- export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
- export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/iri-lab/iri_ws/src/iri_navigation/iri_gazebo_worlds/models
--->
-<launch>
-
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <!--sim-->
- <arg name="world" default="fme_opened_door"/>
- <arg name="robot" default="$(optenv ROBOT tibi)" />
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="8.0"/>
- <arg name="robot_yaw" default="-1.57"/>
-
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/world.launch.xml">
- <arg name="world" value="$(arg world)"/>
- </include>
-
- <include file="$(find tibi_dabo_gazebo)/launch/include/robot.launch.xml">
- <arg name="robot" value="$(arg robot)"/>
- <arg name="model" value="$(arg robot)"/>
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="yaw" value="$(arg robot_yaw)"/>
- </include>
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person1"/>
- <arg name="type" value="person"/>
- <arg name="x" value="0.0"/>
- <arg name="y" value="8.0"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-
- <include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person2"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-1.5"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<!--
-1) salir goal abajo a la derecha:
-person3:
- x=-4
- y=-3.5
- <arg name="yaw" value="-2.00"/>
-
-robot y person companion:
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="8.3
-
- <arg name="person1_x" value="0.0"/>
- <arg name="person1_y" value="8.0"/>
-
-
-2) salir goal arriba a la derecha:
-person3:
- x=4
- y=-3.5
- <arg name="yaw" value="2.355"/>
-
-robot y person companion:
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="8.3
-
- <arg name="person1_x" value="0.0"/>
- <arg name="person1_y" value="8.0"/>
-
-3) salir goal abajo a la izquierda:
-person3:
- x=-4
- y=5
- <arg name="yaw" value="-0.785"/>
-
-robot y person companion:
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="-5.3
- <arg name="robot_yaw" default="1.57"/>
-
- <arg name="person1_x" value="0.0"/>
- <arg name="person1_y" value="-7.0"/>
- <arg name="robot_yaw" default="1.57"/>
-
-4)salir goal arriba a la izquierda:
-person3:
- x=4
- y=5
- <arg name="yaw" value="-2.355"/>
-
-robot y person companion:
- <arg name="robot_x" default="-1.5"/>
- <arg name="robot_y" default="-5.3
- <arg name="robot_yaw" default="1.57"/>
-
- <arg name="person1_x" value="0.0"/>
- <arg name="person1_y" value="-7.0"/>
- <arg name="robot_yaw" default="1.57"/>
-
--->
-<!--
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person3"/>
- <arg name="type" value="person"/>
- <arg name="x" value="-3.4"/>
- <arg name="y" value="-2.36"/>
- <arg name="yaw" value="2.0"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person4"/>
- <arg name="type" value="person"/>
- <arg name="x" value="2.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
-
-<include file="$(find iri_objects_description)/launch/spawn_person.launch">
- <arg name="name" value="person5"/>
- <arg name="type" value="person"/>
- <arg name="x" value="1.0"/>
- <arg name="y" value="-7.5"/>
- <arg name="yaw" value="-1.57"/>
- </include>
--->
-<!--
- <include file="$(find iri_objects_description)/launch/spawn_box.launch">
- <arg name="name" value="box1"/>
- <arg name="x" value="7.25"/>
- <arg name="y" value="10.0"/>
- <arg name="yaw" value="0.0"/>
- <arg name="length" value="1.0"/>
- <arg name="width" value="1.0"/>
- <arg name="height" value="2.0"/>
- </include> -->
-
- <!--/sim-->
-
- <!--nav-->
- <include file="$(find iri_platform_teleop)/launch/tibi_dabo_teleop_safe_mux.launch"/>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_cmd_vel_mux.launch"/>
- <!-- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_velocity_smoother.launch"/> -->
-
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_amcl.launch">
- <arg name="x" value="$(arg robot_x)"/>
- <arg name="y" value="$(arg robot_y)"/>
- <arg name="a" value="$(arg robot_yaw)"/>
- </include>
- <include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_map_server.launch">
- <arg name="map" value="sim/$(arg world)"/>
- </include>
- <!--<include file="$(find tibi_dabo_rosnav)/launch/tibi_dabo_move_base_dwa_mux.launch"/>--> <!-- ROS navigation -->
- <include file="$(find iri_akp_local_planner_companion)/launch/tibi_dabo_akp_local.launch">
- <arg name="map" value="fme_open2"/>
- </include>
- <!--/nav-->
-
- <!--people-->
- <include file="$(find iri_laser_people_detection)/launch/tibi_dabo_lpd_map.launch"/>
- <include file="$(find iri_laser_people_map_filter)/launch/tibi_dabo_laser_people_map_filter.launch"/>
- <include file="$(find iri_people_tracking_mht)/launch/tibi_dabo_mht_map.launch"/>
- <!--/people-->
-
- <node name="rviz" pkg ="rviz" type="rviz" machine="monitor"
- args="-d $(find tibi_dabo_apps)/rviz/$(env ROBOT)_companion.rviz" />
-
- <node name="dr" pkg ="rqt_reconfigure" type="rqt_reconfigure" machine="monitor"/>
-
-</launch>
diff --git a/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch b/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch
deleted file mode 100644
index 15bd8f195632d435f17a053937d4779ee2ae51e8..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/tibi_dabo_akp_local_ASPSI.launch
+++ /dev/null
@@ -1,69 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="map" default="fme_open2" />
-
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!--launch-prefix="xterm -e ddd -args" -->
- <!--output="screen"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel_unsafe" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/cmd_vel_stop"
- to="/turtlebot_teleop_keyboard/cmd_vel2"/>
-
- <remap from="/$(optenv ROBOT tibi)/tibi_pose_for_sim"
- to="/$(optenv ROBOT tibi)/initialpose"/>
-
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_aspsi)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_aspsi)/maps/master_big_destinations_Gazebo_sim2.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/> <!--MUY importante: en sim, speed_k=1.0; en robot real, speed_k=1.5; is due to our robot-velocity controller that divides the velocity by 2.-->
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- </node>
-
-
- <node pkg="iri_safe_cmd"
- type="iri_safe_cmd"
- name="iri_safe_cmd_nav"
- >
- <param name="unsafe" type="bool" value="false"/>
- <param name="min_dist" type="double" value="0.5"/>
- <param name="collision_time" type="double" value="1.5"/>
- <param name="limit_vel_front" type="double" value="1.0"/>
- <param name="limit_vel_rear" type="double" value="-1.0"/>
- <param name="front_laser_watchdog_time" type="double" value="1.0"/>
- <param name="rear_laser_watchdog_time" type="double" value="1.0"/>
- <param name="base_frame" type="string" value="tibi/base_link"/>
- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
- <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
- <remap from="~rear_laser" to="/$(env ROBOT)/sensors/rear_laser_scan"/>
- <remap from="~front_laser" to="/$(env ROBOT)/sensors/front_laser_scan"/>
- </node>
-
-
-
- </group>
-
-</launch>
diff --git a/launch/sim_gazebo/tibi_dabo_akp_local_ASSAOP.launch b/launch/sim_gazebo/tibi_dabo_akp_local_ASSAOP.launch
deleted file mode 100644
index e9cf7fe4dc8154b6d085affe6e91db159be4da9a..0000000000000000000000000000000000000000
--- a/launch/sim_gazebo/tibi_dabo_akp_local_ASSAOP.launch
+++ /dev/null
@@ -1,69 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="map" default="fme_open2" />
-
- <rosparam command="delete" ns="/$(optenv ROBOT tibi)/move_base" />
-
- <group ns="$(optenv ROBOT tibi)">
-
- <!--launch-prefix="xterm -e ddd -args" -->
- <!--output="screen"-->
- <node pkg ="move_base"
- type="move_base"
- name="move_base"
- output="screen">
- <remap from="/$(optenv ROBOT tibi)/cmd_vel"
- to="/$(optenv ROBOT tibi)/navigation/cmd_vel_unsafe" />
- <remap from="/$(optenv ROBOT tibi)/odom"
- to="/$(optenv ROBOT tibi)/segway/odom" />
- <remap from="/$(optenv ROBOT tibi)/front_scan"
- to="/$(optenv ROBOT tibi)/sensors/front_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/rear_scan"
- to="/$(optenv ROBOT tibi)/sensors/rear_laser_scan" />
- <remap from="/$(optenv ROBOT tibi)/tracks"
- to="/$(optenv ROBOT tibi)/mht/tracks" />
- <remap from="/$(optenv ROBOT tibi)/cmd_vel_stop"
- to="/turtlebot_teleop_keyboard/cmd_vel2"/>
-
- <remap from="/$(optenv ROBOT tibi)/tibi_pose_for_sim"
- to="/$(optenv ROBOT tibi)/initialpose"/>
-
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/move_base_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="global_costmap" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/costmap_common_params.yaml" command="load" ns="local_costmap" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/local_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/global_costmap_params.yaml" command="load" />
- <rosparam file="$(find iri_robot_assaop)/config/$(optenv ROBOT tibi)/akp_local_planner_params.yaml" command="load" />
- <param name="AkpLocalPlanner/destination_map_path" value="$(find iri_robot_assaop)/maps/master_big_destinations_Gazebo_sim2.txt" />
- <param name="AkpLocalPlanner/robot" value="$(optenv ROBOT tibi)"/>
- <param name="AkpLocalPlanner/speed_k" value="1"/> <!--MUY importante: en sim, speed_k=1.0; en robot real, speed_k=1.5; is due to our robot-velocity controller that divides the velocity by 2.-->
- <!-- for SIM-->
- <param name="AkpLocalPlanner/change_sim" value="False"/>
- <param name="AkpLocalPlanner/sim_target_per" value="False"/>
- </node>
-
-
- <node pkg="iri_safe_cmd"
- type="iri_safe_cmd"
- name="iri_safe_cmd_nav"
- >
- <param name="unsafe" type="bool" value="false"/>
- <param name="min_dist" type="double" value="0.5"/>
- <param name="collision_time" type="double" value="1.5"/>
- <param name="limit_vel_front" type="double" value="1.0"/>
- <param name="limit_vel_rear" type="double" value="-1.0"/>
- <param name="front_laser_watchdog_time" type="double" value="1.0"/>
- <param name="rear_laser_watchdog_time" type="double" value="1.0"/>
- <param name="base_frame" type="string" value="tibi/base_link"/>
- <remap from="~cmd_vel_safe" to="/$(env ROBOT)/segway/cmd_vel"/>
- <remap from="~cmd_vel" to="/$(env ROBOT)/navigation/cmd_vel_unsafe"/>
- <remap from="~rear_laser" to="/$(env ROBOT)/sensors/rear_laser_scan"/>
- <remap from="~front_laser" to="/$(env ROBOT)/sensors/front_laser_scan"/>
- </node>
-
-
-
- </group>
-
-</launch>
diff --git a/launch/tracker_nav_and_detection_for_ASPSI.launch b/launch/tracker_nav_and_detection_for_ASPSI.launch
deleted file mode 100644
index a687b2833f090317422f5bf0242a7e9a9ad4eb2a..0000000000000000000000000000000000000000
--- a/launch/tracker_nav_and_detection_for_ASPSI.launch
+++ /dev/null
@@ -1,191 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="rviz" default="true"/>
- <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
- <arg name="move_base_params" default="move_base_params.yaml"/>
- <arg name="costmap_common_params" default="common_params.yaml"/>
- <arg name="costmap_local_params" default="local_params.yaml"/>
- <arg name="costmap_global_params" default="global_params.yaml"/>
- <arg name="map_name" default="fme"/>
- <arg name="initial_x" default="-1.5"/>
- <arg name="initial_y" default="6.0"/>
- <arg name="initial_yaw" default="-1.57"/>
- <arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global_planner"/>
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
-
- <include file="$(find iri_rosnav)/launch/nav.launch">
- <arg name="ns" value="ana"/>
- <arg name="path" value="$(find iri_ana_rosnav)/params"/>
- <arg name="move_base_params" value="$(arg move_base_params)"/>
- <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
- <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
- <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
- <arg name="map_frame_id" value="map"/>
- <arg name="odom_frame_id" value="ana/odom"/>
- <arg name="base_frame_id" value="ana/base_footprint"/>
- <arg name="map_topic" value="/ana/map"/>
- <arg name="map_service" value="/ana/static_map"/>
- <arg name="odom_topic" value="/ana/odom"/>
- <arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
- <arg name="scan_topic" value="/ana/sensors/scan"/>
- <arg name="use_map" value="true"/>
- <arg name="use_map_server" value="true"/>
- <arg name="map_name" value="$(arg map_name)"/>
- <arg name="use_amcl" value="true"/>
- <arg name="amcl_config" value="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_yaw" value="$(arg initial_yaw)"/>
- <arg name="use_fake_loc" value="false"/>
- <arg name="use_gmapping" value="false"/>
- <arg name="local_planner" value="$(arg local_planner)"/>
- <arg name="global_planner" value="$(arg global_planner)"/>
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
- </include>
-
- <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
- <arg name="ns" value="ana"/>
- <arg name="node_name" value="pcl_to_laserscan"/>
- <arg name="scan_topic" value="/ana/sensors/scan"/>
- <arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
- <arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
- </include>
-
-<group ns="$(optenv ROBOT ana)">
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht"
- output="screen">
- <remap from="/ana/mht/detections"
- to="/ana/lpd/peopleMapFiltered" />
- <remap from="/ana/mht/odom"
- to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
- <remap from="/ana/mht/odom_for_medium_velocity"
- to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
-
- <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
- <param name="~/frame_id" type="string" value="map" /> <!-- tf of the map for the tracker -->
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="1.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.97" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.5" />
- <param name="~/mht_velocity_margin" type="double" value="1.0" />
- <param name="~/covariance_no_track" type="double" value="5.0" />
- </node>
-
- <!-- Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd"
- output="screen"
- >
-
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.07" />
- <param name="~/personRadius" type="double" value="0.7" />
- <!-- load different trained detectors (to switch at rangeThreshold) -->
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile2.txt" />
- <!-- transform detections to base_link frame -->
- <param name="~/selectPosesFrame" type="bool" value="False" />
- <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
- <!-- visualization -->
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.4" />
- <param name="~/markerR" type="double" value="0.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.5" />
- <param name="~/markerA" type="double" value="0.5" />
- <!-- filter detections by range/x/y -->
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
-
- <remap from="/ana/lpd/scan"
- to="/ana/sensors/scan" /> <!-- topic: scan del robot -->
- <remap from="/ana/lpd/people"
- to="/ana/lpd/people" />
- </node>
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf">
-
- <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
- <param name="~/neighborRadius" type="double" value="0.3" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
-
-
- <remap from="/ana/lpmf/people"
- to="/ana/lpd/people" />
- <remap from="/ana/lpmf/people_out"
- to="/ana/lpd/peopleMapFiltered" />
- <remap from="/ana/lpmf/map"
- to="/ana/map" /> <!-- topic of the map -->
-
- </node>
- </group>
-
- <!-- Ini Navigation Companion Nodes -->
-
-
-
- <!-- <node name="rviz"
- pkg="rviz"
- type="rviz"
- if="$(arg rviz)"
- args="-d $(arg rviz_file)">
- </node>-->
-
-<node name="rviz"
- pkg="rviz"
- type="rviz"
- if="$(arg rviz)"
- args="-d $(find iri_robot_aspsi)/rviz/ana.rviz">
- </node>
-</launch>
diff --git a/launch/tracker_nav_and_detection_for_ASPSI_brl.launch b/launch/tracker_nav_and_detection_for_ASPSI_brl.launch
deleted file mode 100644
index ced6e81d321a159e31a8bbda78765d51c95469e0..0000000000000000000000000000000000000000
--- a/launch/tracker_nav_and_detection_for_ASPSI_brl.launch
+++ /dev/null
@@ -1,191 +0,0 @@
-<!-- -->
-<launch>
-
- <arg name="rviz" default="true"/>
- <arg name="rviz_file" default="$(find iri_ana_rosnav)/rviz/ana.rviz"/>
- <arg name="move_base_params" default="move_base_params.yaml"/>
- <arg name="costmap_common_params" default="common_params.yaml"/>
- <arg name="costmap_local_params" default="local_params.yaml"/>
- <arg name="costmap_global_params" default="global_params.yaml"/>
- <arg name="map_name" default="master_big"/>
- <arg name="initial_x" default="20.5"/>
- <arg name="initial_y" default="39.0"/>
- <arg name="initial_yaw" default="0.0"/>
- <arg name="local_planner" default="dwa"/>
- <arg name="global_planner" default="global_planner"/>
- <arg name="output" default="screen" />
- <arg name="launch_prefix" default="" />
-
- <include file="$(find iri_rosnav)/launch/nav.launch">
- <arg name="ns" value="ana"/>
- <arg name="path" value="$(find iri_ana_rosnav)/params"/>
- <arg name="move_base_params" value="$(arg move_base_params)"/>
- <arg name="costmap_common_params" value="$(arg costmap_common_params)"/>
- <arg name="costmap_local_params" value="$(arg costmap_local_params)"/>
- <arg name="costmap_global_params" value="$(arg costmap_global_params)"/>
- <arg name="map_frame_id" value="map"/>
- <arg name="odom_frame_id" value="ana/odom"/>
- <arg name="base_frame_id" value="ana/base_footprint"/>
- <arg name="map_topic" value="/ana/map"/>
- <arg name="map_service" value="/ana/static_map"/>
- <arg name="odom_topic" value="/ana/odom"/>
- <arg name="cmd_vel_topic" value="/ana/navigation/cmd_vel"/>
- <arg name="scan_topic" value="/ana/sensors/scan"/>
- <arg name="use_map" value="true"/>
- <arg name="use_map_server" value="true"/>
- <arg name="map_name" value="$(arg map_name)"/>
- <arg name="use_amcl" value="true"/>
- <arg name="amcl_config" value="$(find iri_ana_rosnav)/params/amcl_companion_test_ely2021_mapFME.yaml"/>
- <arg name="initial_x" value="$(arg initial_x)"/>
- <arg name="initial_y" value="$(arg initial_y)"/>
- <arg name="initial_yaw" value="$(arg initial_yaw)"/>
- <arg name="use_fake_loc" value="false"/>
- <arg name="use_gmapping" value="false"/>
- <arg name="local_planner" value="$(arg local_planner)"/>
- <arg name="global_planner" value="$(arg global_planner)"/>
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
- </include>
-
- <include file="$(find iri_rosnav)/launch/include/pointcloud_to_laserscan.launch">
- <arg name="ns" value="ana"/>
- <arg name="node_name" value="pcl_to_laserscan"/>
- <arg name="scan_topic" value="/ana/sensors/scan"/>
- <arg name="cloud_topic" value="/ana/sensors/velodyne_points"/>
- <arg name="config_file" value="$(find iri_ana_rosnav)/params/pointcloud_to_laserscan.yaml" />
- <arg name="output" value="$(arg output)" />
- <arg name="launch_prefix" value="$(arg launch_prefix)" />
- </include>
-
-<group ns="$(optenv ROBOT ana)">
- <!-- People Tracking MHT (remap) -->
- <!-- published topics: /$(env ROBOT)/mht/tracks -->
- <!-- subscribed topics: /$(env ROBOT)/detections -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_people_tracking_mht"
- type="iri_people_tracking_mht"
- name="mht"
- output="screen">
- <remap from="/ana/mht/detections"
- to="/ana/lpd/peopleMapFiltered" />
- <remap from="/ana/mht/odom"
- to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
- <remap from="/ana/mht/odom_for_medium_velocity"
- to="/ana/odom" /> <!-- /topic-odometry-of-the-robot -->
-
- <!-- People Tracking MHT parameters for outdoor environments with few false alarms-->
- <param name="~/frame_id" type="string" value="map" /> <!-- tf of the map for the tracker -->
- <param name="local_tracker" type="bool" value="false"/>
- <param name="~/association_threshold" type="double" value="1.0" />
- <param name="~/confirmation_threshold" type="double" value="0.9" />
- <param name="~/deletion_threshold" type="double" value="0.4" />
- <param name="~/laser_probability" type="double" value="0.9" />
- <param name="~/laser_false_alarm" type="double" value="0.1" />
- <param name="~/laser_new_track" type="double" value="0.11" />
- <param name="~/laser_no_detection" type="double" value="0.97" />
- <param name="~/laser_no_confirmed" type="double" value="0.02" />
- <param name="~/laser_no_confirmed_iteration" type="double" value="0.01" />
- <param name="~/augment_covariance_track" type="double" value="0.5" />
- <param name="~/mht_velocity_margin" type="double" value="1.0" />
- <param name="~/covariance_no_track" type="double" value="5.0" />
- </node>
-
- <!-- Laser People Detector (remap) -->
- <!-- published topics: /$(env ROBOT)/people -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_detection"
- type="iri_laser_people_detection"
- name="lpd"
- output="screen"
- >
-
- <param name="~/rangeThreshold" type="double" value="0.0" />
- <param name="~/detectionThreshold" type="double" value="-0.07" />
- <param name="~/personRadius" type="double" value="0.7" />
- <!-- load different trained detectors (to switch at rangeThreshold) -->
- <param name="~/boostFilePath" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile.txt" />
- <param name="~/boostFilePath2" type="string" value="/usr/local/include/iri/laser_people_detection/boostData/boostFile2.txt" />
- <!-- transform detections to base_link frame -->
- <param name="~/selectPosesFrame" type="bool" value="False" />
- <param name="~/posesFrame" type="string" value="/scan" /> <!-- frame where you want the poses -->
- <param name="~/selectScanFrame" type="bool" value="False" />
- <param name="~/scanFrame" type="string" value="/scan" /> <!-- frame of the scan -->
- <!-- visualization -->
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="0.4" />
- <param name="~/markerR" type="double" value="0.0" />
- <param name="~/markerG" type="double" value="0.0" />
- <param name="~/markerB" type="double" value="0.5" />
- <param name="~/markerA" type="double" value="0.5" />
- <!-- filter detections by range/x/y -->
- <param name="~/filterPosesMode" type="bool" value="False" />
- <param name="~/filterR" type="double" value="0.0" />
- <param name="~/filterX" type="double" value="0.0" />
- <param name="~/filterY" type="double" value="0.0" />
-
- <remap from="/ana/lpd/scan"
- to="/ana/sensors/scan" /> <!-- topic: scan del robot -->
- <remap from="/ana/lpd/people"
- to="/ana/lpd/people" />
- </node>
-
-
-
- <!-- Laser People map Filter -->
- <!-- published topics: /$(env ROBOT)/peopleFiltered -->
- <!-- subscribed topics: /$(env ROBOT)/people -->
- <!-- /$(env ROBOT)map -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <node pkg ="iri_laser_people_map_filter"
- type="iri_laser_people_map_filter"
- name="lpmf">
-
- <param name="~/filter" type="bool" value="True" /> <!-- true to enable filtering when we have a map -->
- <param name="~/neighborRadius" type="double" value="0.3" />
- <param name="~/markerWidth" type="double" value="0.7" />
- <param name="~/markerHeight" type="double" value="1.5" />
- <param name="~/markerR" type="double" value="1.0" />
- <param name="~/markerG" type="double" value="1.0" />
- <param name="~/markerB" type="double" value="0.0" />
- <param name="~/markerA" type="double" value="0.9" />
- <param name="~/markerLifeTime" type="double" value="0.1" />
-
-
- <remap from="/ana/lpmf/people"
- to="/ana/lpd/people" />
- <remap from="/ana/lpmf/people_out"
- to="/ana/lpd/peopleMapFiltered" />
- <remap from="/ana/lpmf/map"
- to="/ana/map" /> <!-- topic of the map -->
-
- </node>
- </group>
-
- <!-- Ini Navigation Companion Nodes -->
-
-
-
- <!-- <node name="rviz"
- pkg="rviz"
- type="rviz"
- if="$(arg rviz)"
- args="-d $(arg rviz_file)">
- </node>-->
-
-<node name="rviz"
- pkg="rviz"
- type="rviz"
- if="$(arg rviz)"
- args="-d $(find iri_robot_aspsi)/rviz/ana.rviz">
- </node>
-</launch>