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Commit 4eabf0fb authored by marvin's avatar marvin
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Test

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build/sim/bot.gazebo.xacro
+ 81
− 7
View file @ 4eabf0fb
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi_sim">
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_sim">
<xacro:arg name="laser_visual" default="false" />
<xacro:arg name="camera_visual" default="false" />
<xacro:arg name="imu_visual" default="false" />
......@@ -44,8 +44,15 @@
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<always_on>true</always_on>
<visualize>$(arg imu_visual)</visualize>
</sensor>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo>
<plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
<plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
......@@ -94,12 +101,79 @@
</imu>
</plugin>
</gazebo>
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(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>false</visualize>
<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>
<material>Gazebo/FlatBlack</material>
</gazebo>
</robot>
build/sim/botname.txt
+ 1
− 1
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waffle
\ No newline at end of file
Waffle
\ No newline at end of file
src/var/FeatureModelConfigurator/configs/test.xml
+ 2
− 1
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......@@ -3,13 +3,14 @@
<feature automatic="selected" name="ConfiguratorMain"/>
<feature automatic="selected" name="Templates"/>
<feature automatic="unselected" name="Burger"/>
<feature automatic="unselected" name="BurgerForAutorace"/>
<feature manual="selected" name="Waffle"/>
<feature automatic="unselected" name="WafflePi"/>
<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="Pi_Camera"/>
<feature automatic="unselected" name="realsense_R200"/>
</configuration>
src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+ 2
− 2
View file @ 4eabf0fb
<?xml version="1.0" encoding="UTF-8"?>
<specification>
<templates name="WafflePi" />
<templates name="Waffle" />
<sensors>
<mode />
<mode param="NO_CHANGE" />
</sensors>
</specification>
src/var/FeatureModelConfigurator/src/Configurator.jak
+ 13
− 3
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......@@ -176,12 +176,22 @@ abstract class Configurator$$ConfiguratorMain {
}
}
SoUrCe WafflePi "../features/WafflePi/Configurator.jak";/**
SoUrCe Waffle "../features/Waffle/Configurator.jak";/**
* TODO description
*/
public class Configurator extends Configurator$$ConfiguratorMain {
abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
public void save() {
Super().addToModuleList("WafflePi");
Super().addToModuleList("Waffle");
Super().save();
}
}
SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
* TODO description
*/
public class Configurator extends Configurator$$Waffle {
public void save() {
Super().addToModuleList("NO_CHANGE");
Super().save();
}
}
\ No newline at end of file
src/var/FeatureModelConfigurator/src/Configurator.java
+ 12
− 2
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......@@ -179,9 +179,19 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
public class Configurator extends Configurator$$ConfiguratorMain {
abstract class Configurator$$Waffle extends Configurator$$ConfiguratorMain {
public void save() {
super.addToModuleList("WafflePi");
super.addToModuleList("Waffle");
super.save();
}
}
/**
* TODO description
*/
public class Configurator extends Configurator$$Waffle {
public void save() {
super.addToModuleList("NO_CHANGE");
super.save();
}
}
\ No newline at end of file
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