Modify course_out_surveillance

enable large track surveillance use rosparam
seigot · Mar 31, 2021 · dc8f80d · dc8f80d
1 parent 1d03243
commit dc8f80d
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Showing 5 changed files with 35 additions and 7 deletions.
diff --git a/ai_race/sim_environment/config/course_size_large.yaml b/ai_race/sim_environment/config/course_size_large.yaml
@@ -0,0 +1,7 @@
+course_size_lx: 5.22
+course_size_ly: 3.96
+course_size_r : 3.3
+course_size_lx_out: 6.75
+course_size_ly_out: 8.5
+
+
diff --git a/ai_race/sim_environment/config/course_size_small.yaml b/ai_race/sim_environment/config/course_size_small.yaml
@@ -0,0 +1,7 @@
+course_size_lx: 1.2
+course_size_ly: 1.04
+course_size_r : 0.75
+course_size_lx_out: 2.25
+course_size_ly_out: 2.85
+
+
diff --git a/ai_race/sim_environment/launch/sim_environment.launch b/ai_race/sim_environment/launch/sim_environment.launch
@@ -86,11 +86,12 @@
       <arg name="track_name" value="medium_track_plane_w_wall_large.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="true" />    <!--  for large field debug -->
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="track_size" default="2"/>
       <arg name="robot_pos" value="-x 5.75 -y 0 -z 0 -Y 1.57"/>
       <arg name="camera_pos" value="-x 5.15 -y 0 -z 0 -Y 0.0"/>
       <arg name="godeye_pos" value="-x 0 -y 0 -z 4.0 -Y 0.0"/>
@@ -109,6 +110,7 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="track_size" default="1"/>
       <arg name="perspective" value="2" />
     </include>  
   </group>
@@ -124,6 +126,7 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="track_size" default="1"/>
       <arg name="perspective" value="2" />
     </include>  
   </group>
@@ -139,6 +142,7 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="track_size" default="1"/>
       <arg name="perspective" value="2" />
     </include>  
   </group>
@@ -154,6 +158,7 @@
       <arg name="arrow" value="$(arg arrow)" />
       <arg name="record" value="$(arg record)" />
       <arg name="play" value="$(arg play)" />
+      <arg name="track_size" default="1"/>
       <arg name="perspective" value="2" />
     </include>  
   </group>

diff --git a/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch b/ai_race/sim_environment/launch/wheel_robot_with_surveillance.launch
@@ -1,3 +1,4 @@
+<?xml version="1.0"?>
 <launch>
   <!-- roslaunch arguments -->
   <arg name="show_rviz" default="false"/>
@@ -11,6 +12,7 @@
   <arg name="arrow" default="true" />
   <arg name="record" default="false" />
   <arg name="play" default="false" />
+  <arg name="track_size" default="1"/> <!-- 1:small, 2:large 3... -->
   <arg name="perspective" default="1" />
   <arg name="robot_pos" default="-x 1.6 -y 0 -z 0 -Y 1.57" />
   <arg name="camera_pos" default="-x 1.0 -y 0 -z 0 -Y 0" />
@@ -108,6 +110,13 @@
       <node pkg="sim_environment" type="course_out_surveillance.py" name="course_out_surveillance" output="screen" />
   </group>
 
+  <group if="$(eval track_size==1)">
+    <rosparam file="$(find sim_environment)/config/course_size_small.yaml" command="load" />
+  </group>
+  <group if="$(eval track_size==2)">
+    <rosparam file="$(find sim_environment)/config/course_size_large.yaml" command="load" />
+  </group>
+
   <!-- servo node -->
     <node pkg="sim_environment" type="servo_commands.py" name="servo_commands" output="screen" />
 

diff --git a/ai_race/sim_environment/scripts/course_out_surveillance.py b/ai_race/sim_environment/scripts/course_out_surveillance.py
@@ -12,12 +12,12 @@
 #max speed param
 MAX_SPEED_W = 0.5
 
-#Level1 Parameters
-Ly = 1.04
-Lx = 1.2
-r  = 0.75
-Ly_out = 2.85
-Lx_out = 2.25
+#Track Size Parameters
+Lx = rospy.get_param('/course_size_lx', 1.2)
+Ly = rospy.get_param('/course_size_ly', 1.04)
+r  = rospy.get_param('/course_size_r', 0.75)
+Lx_out = rospy.get_param('course_size_lx_out', 2.25)
+Ly_out = rospy.get_param('course_size_ly_out', 2.85)
 
 x = 1.6
 y = 0.0