Skip to content
Snippets Groups Projects
Commit 43f4af8a authored by Jonas's avatar Jonas
Browse files

Fixed bug when no sensor was selected 

Should be runnable
parent aa77af00
Branches
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 69 additions and 161 deletions
Varianten/AdapterFIDEROS/resources/input/.project 0 → 100644
+ 39
− 0
View file @ 43f4af8a
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>turtlebots</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>de.ovgu.featureide.core.extensibleFeatureProjectBuilder</name>
<arguments>
<dictionary>
<key>build</key>
<value>src</value>
</dictionary>
<dictionary>
<key>composer</key>
<value>de.ovgu.featureide.composer.ahead</value>
</dictionary>
<dictionary>
<key>equations</key>
<value>configs</value>
</dictionary>
<dictionary>
<key>source</key>
<value>features</value>
</dictionary>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.jdt.core.javabuilder</name>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.jdt.core.javanature</nature>
<nature>de.ovgu.featureide.core.featureProjectNature</nature>
</natures>
</projectDescription>
build/sim/bot.gazebo.xacro
+ 3
− 84
View file @ 43f4af8a
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_sim">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi_sim">
<xacro:arg name="laser_visual" default="false" />
<xacro:arg name="camera_visual" default="false" />
<xacro:arg name="imu_visual" default="false" />
......@@ -44,15 +44,8 @@
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<always_on>true</always_on>
<visualize>$(arg imu_visual)</visualize>
</sensor>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo>
<plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
<plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
......@@ -101,79 +94,5 @@
</imu>
</plugin>
</gazebo>
<gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(arg laser_visual)</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>
<gazebo reference="camera_rgb_frame">
<sensor type="depth" name="realsense_R200">
<always_on>true</always_on>
<visualize>$(arg camera_visual)</visualize>
<camera>
<horizontal_fov>1.3439</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<depth_camera />
<clip>
<near>0.03</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>camera</cameraName>
<frameName>camera_rgb_optical_frame</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
</robot>
build/sim/bot.urdf.xacro
+ 7
− 37
View file @ 43f4af8a
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" />
<xacro:include filename="$(find sim)/bot.gazebo.xacro" />
<xacro:property name="r200_cam_rgb_px" value="0.005" />
<xacro:property name="r200_cam_rgb_py" value="0.018" />
<xacro:property name="r200_cam_rgb_pz" value="0.013" />
<xacro:property name="r200_cam_depth_offset" value="0.01" />
<link name="base_footprint" />
<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
......@@ -16,7 +12,7 @@
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001" />
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="light_black" />
</visual>
......@@ -133,7 +129,7 @@
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" />
</geometry>
......@@ -152,34 +148,20 @@
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0" />
<origin xyz="0.073 -0.011 0.084" rpy="0 0 0" />
<parent link="base_link" />
<child link="camera_link" />
</joint>
<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 1.57" />
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.003 0.065 0.007" rpy="0 0 0" />
<origin xyz="0.005 0.011 0.013" rpy="0 0 0" />
<geometry>
<box size="0.012 0.132 0.020" />
<box size="0.015 0.030 0.027" />
</geometry>
</collision>
<!-- This inertial field needs doesn't contain reliable data!! -->
<!-- <inertial>
<mass value="0.564" />
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
iyy="0.000498940" iyz="0.0"
izz="0.003879257" />
</inertial>-->
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0" />
<origin xyz="0.003 0.011 0.009" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_rgb_frame" />
</joint>
......@@ -190,16 +172,4 @@
<child link="camera_rgb_optical_frame" />
</joint>
<link name="camera_rgb_optical_frame" />
<joint name="camera_depth_joint" type="fixed">
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_depth_frame" />
</joint>
<link name="camera_depth_frame" />
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57" />
<parent link="camera_depth_frame" />
<child link="camera_depth_optical_frame" />
</joint>
<link name="camera_depth_optical_frame" />
</robot>
build/sim/botname.txt
+ 1
− 1
View file @ 43f4af8a
waffle
\ No newline at end of file
waffle_pi
\ No newline at end of file
src/var/FeatureModelConfigurator/configs/test.xml
+ 8
− 8
View file @ 43f4af8a
......@@ -5,13 +5,13 @@
<feature automatic="unselected" name="turtlebot3_burger"/>
<feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
<feature automatic="unselected" name="turtlebot3_burgertest1"/>
<feature manual="selected" name="turtlebot3_waffle"/>
<feature automatic="unselected" name="turtlebot3_waffle_pi"/>
<feature automatic="unselected" name="turtlebot3_waffle"/>
<feature manual="selected" name="turtlebot3_waffle_pi"/>
<feature automatic="selected" name="Sensors"/>
<feature manual="selected" name="NO_CHANGE"/>
<feature automatic="unselected" name="Custom"/>
<feature automatic="unselected" name="Pi_Camera"/>
<feature automatic="unselected" name="imu"/>
<feature automatic="unselected" name="lds_lfcd_sensor"/>
<feature automatic="unselected" name="realsense_R200"/>
<feature automatic="unselected" name="NO_CHANGE"/>
<feature manual="selected" name="Custom"/>
<feature name="Pi_Camera"/>
<feature name="imu"/>
<feature name="lds_lfcd_sensor"/>
<feature name="realsense_R200"/>
</configuration>
src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
+ 1
− 1
View file @ 43f4af8a
......@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
if(bCustomSenors)
if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
......
src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+ 2
− 2
View file @ 43f4af8a
<?xml version="1.0" encoding="UTF-8"?>
<specification>
<templates name="turtlebot3_waffle" />
<templates name="turtlebot3_waffle_pi" />
<sensors>
<mode param="NO_CHANGE" />
<mode param="Custom" />
</sensors>
</specification>
src/var/FeatureModelConfigurator/src/Configurator.jak
+ 4
− 14
View file @ 43f4af8a
......@@ -91,7 +91,7 @@ abstract class Configurator$$ConfiguratorMain {
}
}
//check if the mode should be custom
if(bCustomSenors)
if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
......@@ -176,22 +176,12 @@ abstract class Configurator$$ConfiguratorMain {
}
}
SoUrCe turtlebot3_waffle "../features/turtlebot3_waffle/Configurator.jak";/**
SoUrCe turtlebot3_waffle_pi "../features/turtlebot3_waffle_pi/Configurator.jak";/**
* TODO description
*/
abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
Super().addToModuleList("turtlebot3_waffle");
Super().save();
}
}
SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
* TODO description
*/
public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
Super().addToModuleList("NO_CHANGE");
Super().addToModuleList("turtlebot3_waffle_pi");
Super().save();
}
}
\ No newline at end of file
src/var/FeatureModelConfigurator/src/Configurator.java
+ 3
− 13
View file @ 43f4af8a
......@@ -91,7 +91,7 @@ abstract class Configurator$$ConfiguratorMain {
}
}
//check if the mode should be custom
if(bCustomSenors)
if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
......@@ -179,19 +179,9 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public class Configurator extends Configurator$$ConfiguratorMain {
public void save() {
super.addToModuleList("turtlebot3_waffle");
super.save();
}
}
/**
* TODO description
*/
public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
super.addToModuleList("NO_CHANGE");
super.addToModuleList("turtlebot3_waffle_pi");
super.save();
}
}
\ No newline at end of file
src/var/FeatureModelImplGenerator/template/Main.jak
+ 1
− 1
View file @ 43f4af8a
......@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
if(bCustomSenors)
if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment