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Add a xacro for generating wildlife encounter worlds #390

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merged 4 commits into from
Nov 5, 2021
Merged

Add a xacro for generating wildlife encounter worlds #390

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5fe0e38
adding wildlife xacro to include_all_xacros
M1chaelM Nov 4, 2021
8d1411d
new wildlife xacro
M1chaelM Nov 4, 2021
8664eca
Merge branch 'master' into M1chaelM/wildlife_xacro
M1chaelM Nov 4, 2021
5131a0f
Update task names.
caguero Nov 5, 2021
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1 change: 1 addition & 0 deletions vrx_gazebo/worlds/xacros/include_all_xacros.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/dock.xacro" />
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/scan_and_dock.xacro" />
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/wayfinding.xacro" />
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/wildlife.xacro" />
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/insert_model.xacro" />
</xacro:macro>
</world>
36 changes: 36 additions & 0 deletions vrx_gazebo/worlds/xacros/wildlife.xacro
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@@ -0,0 +1,36 @@
<?xml version="1.0"?>
<world xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="wildlife" params="**animal_includes
**animal_buoys
namespace:=wamv
competition:=vrx">
<xacro:insert_block name="animal_includes"/>
<!-- The scoring plugin -->
<plugin name="wildlife_scoring_plugin"
filename="libwildlife_scoring_plugin.so">
<!-- Common parameters -->
<vehicle>${namespace}</vehicle>
<task_name>wildlife_encounter</task_name>
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<initial_state_duration>10.0</initial_state_duration>
<ready_state_duration>10.0</ready_state_duration>
<running_state_duration>300</running_state_duration>
<collision_buffer>10</collision_buffer>
<release_joints>
<joint>
<name>wamv_external_pivot_joint</name>
</joint>
<joint>
<name>wamv_external_riser</name>
</joint>
</release_joints>

<!-- wildlife specific parameters -->
<buoys>
<xacro:insert_block name="animal_buoys"/>
</buoys>
<engagement_distance>10.0</engagement_distance>
<time_bonus>30.0</time_bonus>
<animals_topic>/vrx/wildlife/animals/poses</animals_topic>
</plugin>
</xacro:macro>
</world>