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Realistic gazebo simulator world #61

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Realistic gazebo simulator world #61

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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
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5 changes: 5 additions & 0 deletions bwi_launch/config/simulated_real.yaml
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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
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@@ -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 -->
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21 changes: 21 additions & 0 deletions bwi_launch/launch/multi_robot_simulation.realistic_gazebo.launch
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<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
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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-->
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10 changes: 10 additions & 0 deletions bwi_launch/launch/simulation_v2.realistic_gazebo.launch
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<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>