diff --git a/Varianten/AdapterFIDEROS/resources/input/.project b/Varianten/AdapterFIDEROS/resources/input/.project
new file mode 100644
index 0000000000000000000000000000000000000000..51c04125a58701cd79e952c69e1c90f23aa39ee7
--- /dev/null
+++ b/Varianten/AdapterFIDEROS/resources/input/.project
@@ -0,0 +1,39 @@
+<?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>
diff --git a/build/sim/bot.gazebo.xacro b/build/sim/bot.gazebo.xacro
index 357fa620e85482c9bce27129d63cd83c64fc46da..e681b1b9b95438290b6cf3eebac7df549b4b1dfa 100644
--- a/build/sim/bot.gazebo.xacro
+++ b/build/sim/bot.gazebo.xacro
@@ -1,5 +1,5 @@
<?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>$(arg camera_visual)</visualize>
- <camera>
- <horizontal_fov>1.3439</horizontal_fov>
- <image>
- <width>1920</width>
- <height>1080</height>
- <format>R8G8B8</format>
- </image>
- <depth_camera />
- <clip>
- <near>0.03</near>
- <far>100</far>
- </clip>
- </camera>
- <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
- <baseline>0.2</baseline>
- <alwaysOn>true</alwaysOn>
- <updateRate>30.0</updateRate>
- <cameraName>camera</cameraName>
- <frameName>camera_rgb_optical_frame</frameName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudCutoff>0.4</pointCloudCutoff>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
- <CxPrime>0.0</CxPrime>
- <Cx>0.0</Cx>
- <Cy>0.0</Cy>
- <focalLength>0</focalLength>
- <hackBaseline>0</hackBaseline>
- </plugin>
- </sensor>
- </gazebo>
+ <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
</robot>
diff --git a/build/sim/bot.urdf.xacro b/build/sim/bot.urdf.xacro
index 0e9289f6c3bae4a5f2dfc9b2d173f0ffb5025daa..a268ae6cd2d2c2f5fc5f79efe38976a51b40ddbd 100644
--- a/build/sim/bot.urdf.xacro
+++ b/build/sim/bot.urdf.xacro
@@ -1,11 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi">
<xacro:include filename="$(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>
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 07bb3138a66f538ea0a699432c9312975b3b69c2..06115db6b4d48d5478a2d5abcc55375e585fffdc 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-waffle
\ No newline at end of file
+waffle_pi
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
index 2346818cebe5c92c872f1136b7c1060e2f9d3646..3472dd56eb9cb7001d85127c2c602a27d34bb22e 100644
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ b/src/var/FeatureModelConfigurator/configs/test.xml
@@ -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>
diff --git a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
index 9177edfaa6b8133c3ffe21c9c12f2bfa9a5b0125..8cf93aa009fac0e03cea9fb3e1585882e7566b27 100644
--- a/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/features/ConfiguratorMain/Configurator.jak
@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}
diff --git a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
index a8bd65a9a6d9fe8504b9b3612797b34d8d128fff..5145399b09271131f9e156318751d0a0cedf8400 100644
--- a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+++ b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
@@ -1,7 +1,7 @@
<?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>
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index 9c9d5addbf14c83218863d4eb59095a219ed5d44..a09c23337bce5607ade934cd52b603f8101c8d94 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -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
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index 7301a67da17130a2830bf64b90f4de4a1c7f3327..3971d09b0eb66639750b2b006bbc50a8efa59a37 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -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
diff --git a/src/var/FeatureModelImplGenerator/template/Main.jak b/src/var/FeatureModelImplGenerator/template/Main.jak
index 9177edfaa6b8133c3ffe21c9c12f2bfa9a5b0125..8cf93aa009fac0e03cea9fb3e1585882e7566b27 100644
--- a/src/var/FeatureModelImplGenerator/template/Main.jak
+++ b/src/var/FeatureModelImplGenerator/template/Main.jak
@@ -89,7 +89,7 @@ public class Configurator {
}
}
//check if the mode should be custom
- if(bCustomSenors)
+ if(bCustomSenors||!oMode.hasAttributes())
oMode.setAttribute("param", "Custom");
}