Merge branch 'main' of https://github.com/seigot/ai_race into main

seigot · Mar 4, 2021 · 1d03243 · 1d03243
2 parents 0b97a01 + 3ffc727
commit 1d03243
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Showing 5 changed files with 25 additions and 11 deletions.
diff --git a/ai_race/sim_environment/config/respown_point_large.yaml b/ai_race/sim_environment/config/respown_point_large.yaml
@@ -0,0 +1,13 @@
+respown_point: [[6.0, 0.0, 90.0],
+                [6.0, 4.0, 90.0], 
+                [4.5, 7.0 ,135.0],
+                [0.0, 8.0, 180],
+                [-4.5, 7.0, -135.0],
+                [-6.0, 4.0, -90.0],
+                [-6.0, 0.0, -90.0],
+                [-6.0, -4.0, -90.0], 
+                [-4.5, -7.0 ,-45.0],
+                [0.0, -8.0, 0.0],
+                [4.5, -7.0, 45.0],
+                [6.0, -4.0, 90.0],
+                ]
diff --git a/ai_race/sim_environment/launch/sim_environment.launch b/ai_race/sim_environment/launch/sim_environment.launch
@@ -87,7 +87,7 @@
       <arg name="gui" value="$(arg gui)" />
       <arg name="controller" value="$(arg controller)" />
       <arg name="dynamic_recon" value="false" />
-      <arg name="with_auto_recovery" value="false" />
+      <arg name="with_auto_recovery" value="true" />    <!--  for large field debug -->
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
@@ -104,7 +104,7 @@
       <arg name="track_name" value="medium_track_plane_w_wall_fall.world" />
       <arg name="gui" value="$(arg gui)" />
       <arg name="controller" value="$(arg controller)" />
-      <arg name="dynamic_recon" value="false" />
+      <arg name="dynamic_recon" value="True" />
       <arg name="with_auto_recovery" value="false" />
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
@@ -119,7 +119,7 @@
       <arg name="track_name" value="medium_track_plane_w_wall_cherry.world" />
       <arg name="gui" value="$(arg gui)" />
       <arg name="controller" value="$(arg controller)" />
-      <arg name="dynamic_recon" value="false" />
+      <arg name="dynamic_recon" value="True" />
       <arg name="with_auto_recovery" value="false" />
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
@@ -134,7 +134,7 @@
       <arg name="track_name" value="medium_track_plane_w_wall_summer.world" />
       <arg name="gui" value="$(arg gui)" />
       <arg name="controller" value="$(arg controller)" />
-      <arg name="dynamic_recon" value="false" />
+      <arg name="dynamic_recon" value="True" />
       <arg name="with_auto_recovery" value="false" />
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
@@ -149,7 +149,7 @@
       <arg name="track_name" value="medium_track_plane_w_wall_winter.world" />
       <arg name="gui" value="$(arg gui)" />
       <arg name="controller" value="$(arg controller)" />
-      <arg name="dynamic_recon" value="false" />
+      <arg name="dynamic_recon" value="True" />
       <arg name="with_auto_recovery" value="false" />
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />

diff --git a/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch b/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch
@@ -120,6 +120,8 @@
     <node pkg="sim_environment" type="jugemu.py" name="jugemu" output="screen" />  
   <group if="$(eval with_auto_recovery==true)">
     <rosparam file="$(find sim_environment)/config/respown_point.yaml" command="load" />
+    <!-- for large field -->
+    <rosparam file="$(find sim_environment)/config/respown_point_large.yaml" command="load" /> 
     <node pkg="sim_environment" type="detect_stack.py" name="detect_stack" output="screen" /> 
     <node pkg="sim_environment" type="jugemu_new.py" name="jugemu_new" output="screen" />
   </group>

diff --git a/ai_race/sim_environment/scripts/course_out_surveillance.py b/ai_race/sim_environment/scripts/course_out_surveillance.py
@@ -13,11 +13,11 @@
 MAX_SPEED_W = 0.5
 
 #Level1 Parameters
-Ly = 1
-Lx = 1.1
-r  = 0.5
-Ly_out = 3.0
-Lx_out = 2.5
+Ly = 1.04
+Lx = 1.2
+r  = 0.75
+Ly_out = 2.85
+Lx_out = 2.25
 
 x = 1.6
 y = 0.0

diff --git a/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro b/ai_race/sim_environment/urdf/surveillance_camera.urdf.xacro
@@ -85,7 +85,6 @@
 
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
-    <static>true</static>
   </gazebo>