Thanks to visit codestin.com
Credit goes to github.com

Skip to content

Realistic gazebo simulator world #61

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
maxsvetlik wants to merge 8 commits into
base: master
Choose a base branch
from
Open

Realistic gazebo simulator world #61

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
8 commits
Select commit Hold shift + click to select a range
80a0359
adds flag for non-gazebo simulators, to compartmentalize gazebo-centr…
maxsvetlik May 1, 2020
4b74a0d
adds unique f1tenth sim file and revets old launch files to previous …
maxsvetlik May 1, 2020
249b8b8
resets the default value for map file
maxsvetlik May 6, 2020
db838c0
adds launch configuration for realistic gazebo sim
maxsvetlik May 8, 2020
2b03857
Revert default value for map_file
maxsvetlik May 11, 2020
c685731
multi robot simulation for realistic world
maxsvetlik May 11, 2020
1f60c55
Merge branch 'feature/realistic_gazebo_sim' of https://github.com/ute…
maxsvetlik May 11, 2020
a18a624
Merge branch 'master' of https://github.com/utexas-bwi/bwi into featu…
maxsvetlik May 20, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions bwi_launch/config/simulated_real.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,5 @@
robots:
- name: marvin
location: [-9.0, -12.0, 0.0]
- name: roberto
location: [-11.0, -12.0, 0.0]
10 changes: 9 additions & 1 deletion bwi_launch/launch/includes/simulation.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,18 @@
<launch>
<arg name="multimap_file" default="$(find utexas_gdc)/maps/simulation/multimap/combined.yaml"/>
<arg name="realistic_gazebo_sim" default="false"/>
<arg name="non_gazebo_sim" default="false"/>

<!-- start the simulation environment -->
<group unless="$(arg non_gazebo_sim)">
<include file="$(find utexas_gdc)/launch/simulation_multimap.launch" />
<group unless="$(arg realistic_gazebo_sim)">
<include file="$(find utexas_gdc)/launch/simulation_multimap.launch" />
</group>
<group if="$(arg realistic_gazebo_sim)">
<include file="$(find utexas_gdc)/launch/simulation_3ne.launch">
<arg name="realistic" value="true"/>
</include>
</group>
</group>

<!-- launch the multi map server for the simulated world -->
Expand Down
21 changes: 21 additions & 0 deletions bwi_launch/launch/multi_robot_simulation.realistic_gazebo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
<launch>

<arg name="multimap_file" value="$(find utexas_gdc)/maps/real/multimap/3_only_multimap.yaml" />

<!-- start the simulation environment -->
<include file="$(find utexas_gdc)/launch/simulation_3ne.launch" >
<arg name="realistic" value="true"/>
</include>

<!-- launch the multi map server for the simulated world -->
<node name="multi_level_map_server" pkg="multi_level_map_server" type="multi_level_map_server">
<param name="map_file" value="$(arg multimap_file)" />
</node>

<include file="$(find segbot_simulation_apps)/launch/door_handler.launch" />

<node name="multi_robot_launcher" pkg="bwi_launch" type="multi_robot_launcher">
<rosparam command="load" param="configuration" file="$(find bwi_launch)/config/simulated_real.yaml" />
</node>

</launch>
2 changes: 2 additions & 0 deletions bwi_launch/launch/simulation_v2.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,12 @@
<arg name="use_arm" default="false" />
<arg name="use_perception" default="false" />
<arg name="non_gazebo_sim" default="false" />
<arg name="realistic_gazebo_sim" default="false" />

<include file="$(find bwi_launch)/launch/includes/simulation.launch.xml" >
<arg name="multimap_file" value="$(arg multimap_file)"/>
<arg name="non_gazebo_sim" value="$(arg non_gazebo_sim)"/>
<arg name="realistic_gazebo_sim" value="$(arg realistic_gazebo_sim)"/>
</include>

<!-- launch robot description and robot internal tf tree, along with any common nodes between h/w and software-->
Expand Down
10 changes: 10 additions & 0 deletions bwi_launch/launch/simulation_v2.realistic_gazebo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,10 @@
<launch>

<include file="$(find bwi_launch)/launch/simulation_v2.launch">
<arg name="multimap_file" value="$(find utexas_gdc)/maps/real/multimap/3_only_multimap.yaml" />
<arg name="x" value="-9.0" />
<arg name="y" value="-12.0" />
<arg name="realistic_gazebo_sim" value="true"/>
</include>

</launch>