diff --git a/build/sim/bot.gazebo.xacro b/build/sim/bot.gazebo.xacro
index 851a5529ca481fff2d719693a4d320cdc04e4145..357fa620e85482c9bce27129d63cd83c64fc46da 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_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>
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 07bb3138a66f538ea0a699432c9312975b3b69c2..82270b43acb2d4270776f0d0291d41c326156a75 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-waffle
\ No newline at end of file
+Waffle
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
index e37e88905c68c671c0b9500a4adbe9ccbcfc2e63..553cef551f157d6702848d8a38a5abeb4b6c6731 100644
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ b/src/var/FeatureModelConfigurator/configs/test.xml
@@ -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>
diff --git a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
index 9a6b0e5209cdaf8aa7ce4b6d527c9f71efd023a8..0b5b6715140c2192faa25bbd110b60d380ac4113 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="WafflePi" />
+ <templates name="Waffle" />
<sensors>
- <mode />
+ <mode param="NO_CHANGE" />
</sensors>
</specification>
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index afd66aa3756dee35289d8d1fe24da076018e0cd2..7b72c8df56d147e4a70c048d7d882d29e267c88d 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -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$$Waffle {
+ public void save() {
+ Super().addToModuleList("NO_CHANGE");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index e51d0712b9428a76dda41b6e3a389ffba507d809..878c9555167db5d36543d15e2b1fd0756c44e2a8 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -179,9 +179,19 @@ abstract class Configurator$$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