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Commit 2f84fe8c authored by marvin's avatar marvin
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ERROR: Running with no sensor selected returns wrong featuremodel

parent da411491
1 merge request!6Adapter custombot
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with 14 additions and 128 deletions
build/sim/bot.gazebo.xacro
+ 2
− 70
View file @ 2f84fe8c
......@@ -95,79 +95,11 @@
</plugin>
</gazebo>
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
<gazebo reference="camera_rgb_frame">
<sensor type="depth" name="realsense_R200">
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<always_on>true</always_on>
<visualize>false</visualize>
<camera>
<horizontal_fov>1.3439</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<depth_camera />
<clip>
<near>0.03</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>camera</cameraName>
<frameName>camera_rgb_optical_frame</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0.0</min_angle>
<max_angle>6.28319</max_angle>
</horizontal>
</scan>
<range>
<min>0.120</min>
<max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
<topicName>scan</topicName>
<frameName>base_scan</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
src/var/FeatureModelConfigurator/.classpath
+ 0
− 5
View file @ 2f84fe8c
<?xml version="1.0" encoding="UTF-8"?>
<classpath>
<classpathentry kind="src" path="src"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7">
<attributes>
<attribute name="module" value="true"/>
</attributes>
</classpathentry>
<classpathentry kind="lib" path="lib/jaxen-1.2.0.jar"/>
<classpathentry kind="lib" path="lib/jdom-2.0.6.jar"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
......
src/var/FeatureModelConfigurator/.settings/org.eclipse.jdt.core.prefs
+ 3
− 3
View file @ 2f84fe8c
......@@ -2,13 +2,13 @@ eclipse.preferences.version=1
org.eclipse.jdt.core.builder.resourceCopyExclusionFilter=*.jak
org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
org.eclipse.jdt.core.compiler.codegen.methodParameters=do not generate
org.eclipse.jdt.core.compiler.codegen.targetPlatform=11
org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7
org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
org.eclipse.jdt.core.compiler.compliance=11
org.eclipse.jdt.core.compiler.compliance=1.7
org.eclipse.jdt.core.compiler.debug.lineNumber=generate
org.eclipse.jdt.core.compiler.debug.localVariable=generate
org.eclipse.jdt.core.compiler.debug.sourceFile=generate
org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
org.eclipse.jdt.core.compiler.release=disabled
org.eclipse.jdt.core.compiler.source=11
org.eclipse.jdt.core.compiler.source=1.7
src/var/FeatureModelConfigurator/configs/config.xml
+ 3
− 3
View file @ 2f84fe8c
......@@ -7,9 +7,9 @@
<feature manual="selected" name="WafflePi"/>
<feature automatic="selected" name="Sensors"/>
<feature automatic="unselected" name="NO_CHANGE"/>
<feature automatic="selected" manual="selected" name="Custom"/>
<feature manual="selected" name="Custom"/>
<feature name="imu"/>
<feature manual="selected" name="lds_lfcd_sensor"/>
<feature name="lds_lfcd_sensor"/>
<feature name="Pi_Camera"/>
<feature manual="selected" name="realsense_R200"/>
<feature name="realsense_R200"/>
</configuration>
src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+ 1
− 3
View file @ 2f84fe8c
......@@ -2,8 +2,6 @@
<specification>
<templates name="WafflePi" />
<sensors>
<mode param="Custom" />
<sensor name="realsense_R200" />
<sensor name="lds_lfcd_sensor" />
<mode />
</sensors>
</specification>
src/var/FeatureModelConfigurator/src/Configurator.jak
+ 1
− 21
View file @ 2f84fe8c
......@@ -179,29 +179,9 @@ abstract class Configurator$$ConfiguratorMain {
SoUrCe WafflePi "../features/WafflePi/Configurator.jak";/**
* TODO description
*/
abstract class Configurator$$WafflePi extends Configurator$$ConfiguratorMain {
public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
Super().addToModuleList("WafflePi");
Super().save();
}
}
SoUrCe lds_lfcd_sensor "../features/lds_lfcd_sensor/Configurator.jak";/**
* TODO description
*/
abstract class Configurator$$lds_lfcd_sensor extends Configurator$$WafflePi {
public void save() {
Super().addToModuleList("lds_lfcd_sensor");
Super().save();
}
}
SoUrCe realsense_R200 "../features/realsense_R200/Configurator.jak";/**
* TODO description
*/
public class Configurator extends Configurator$$lds_lfcd_sensor {
public void save() {
Super().addToModuleList("realsense_R200");
Super().save();
}
}
\ No newline at end of file
src/var/FeatureModelConfigurator/src/Configurator.java
+ 1
− 21
View file @ 2f84fe8c
......@@ -179,29 +179,9 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
abstract class Configurator$$WafflePi extends Configurator$$ConfiguratorMain {
public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
super.addToModuleList("WafflePi");
super.save();
}
}
/**
* TODO description
*/
abstract class Configurator$$lds_lfcd_sensor extends Configurator$$WafflePi {
public void save() {
super.addToModuleList("lds_lfcd_sensor");
super.save();
}
}
/**
* TODO description
*/
public class Configurator extends Configurator$$lds_lfcd_sensor {
public void save() {
super.addToModuleList("realsense_R200");
super.save();
}
}
\ No newline at end of file
src/var/FeatureModelImplGenerator/.classpath
+ 1
− 1
View file @ 2f84fe8c
<?xml version="1.0" encoding="UTF-8"?>
<classpath>
<classpathentry kind="src" path="src"/>
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.7">
<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER">
<attributes>
<attribute name="module" value="true"/>
</attributes>
......
src/var/FeatureModelImplGenerator/.settings/org.eclipse.jdt.core.prefs
+ 2
− 1
View file @ 2f84fe8c
eclipse.preferences.version=1
org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
org.eclipse.jdt.core.compiler.codegen.methodParameters=do not generate
org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.7
org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
org.eclipse.jdt.core.compiler.compliance=1.7
......@@ -8,5 +9,5 @@ org.eclipse.jdt.core.compiler.debug.localVariable=generate
org.eclipse.jdt.core.compiler.debug.sourceFile=generate
org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
org.eclipse.jdt.core.compiler.release=enabled
org.eclipse.jdt.core.compiler.release=disabled
org.eclipse.jdt.core.compiler.source=1.7
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