Merge branch 'master' of...

Merge branch 'master' of https://gitlab.informatik.hu-berlin.de/trappejo/semesterprojekt-modulbasiertes-testen.git

build/sim/testmanager.sh

@@ -72,7 +72,7 @@ for ((i=0; i<${anzahlTests}; i++)); do
 	rightBorder=$(grep -i "rangeRightBorder=" ~/catkin_ws/src/semesterprojekt-modulbasiertes-testen/build/test/testfaelle/$path/config.ini | tr -d -c 0-9.)
 	leftBorder=$(grep -i "rangeLeftBorder=" ~/catkin_ws/src/semesterprojekt-modulbasiertes-testen/build/test/testfaelle/$path/config.ini | tr -d -c 0-9.)
 
-	# Safety Distance bestimmen anhand der gewonnen Informationen
+	# Safety Distance bestimmen anhand der gewonnenen Informationen
 
 	dist=$(bc -l <<< "scale=10; ($rightBorder-$leftBorder)")
 
@@ -105,6 +105,8 @@ for ((i=0; i<${anzahlTests}; i++)); do
 
 ## Simulation
 
+    # Sollte während der Iterationen die Simulation aufhängen, dann innerhalb des Hauptterminals Strg+C drücken um den aktuellen Testfall zu überspringen
+
 	# Launch der Welt
 
 	gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; export TURTLEBOT3_MODEL='$type'; roslaunch sim '$filename'.launch; sleep 5'

src/sim/location_monitor/scripts/location_monitor_node.py

@@ -182,9 +182,9 @@ def objectWithRadiusDetection(radius, cordlist, l_x, l_y, simtime):
     global logger
     global SafeDist
     safedist = radius + SafeDist  # Radius/Size + Bot front Rad + safe dist
-    rospy.loginfo("Safedist: " + str(safedist))
+    rospy.loginfo("Safedist: " + str(SafeDist))
     if WriteFlag == 0:
-        logger.info("Safedist.: " + str(safedist))
+        logger.info("Safedist.: " + str(SafeDist))
     lenght = len(cordlist)
 
     distList = []
@@ -195,8 +195,8 @@ def objectWithRadiusDetection(radius, cordlist, l_x, l_y, simtime):
     temp = min(distList)
     #print(distList)
     if WriteFlag == 0:
-        logger.info("[T:" + str(simtime) + "] " + "Dist. To nearest Bot Collision point: " + str(temp))
-    rospy.loginfo("Dist to collision point: " + str(temp))
+        logger.info("[T:" + str(simtime) + "] " + "Dist. To nearest Bot Collision point: " + str(temp-radius))
+    rospy.loginfo("Dist to collision point: " + str(temp-radius))
     if temp < safedist:
         rospy.loginfo("Collision!")
         if WriteFlag == 0:
@@ -212,10 +212,9 @@ def boxkdetection(size, cordlist, l_x, l_y, yaw_degrees, simtime):
         if WriteFlag == 0:
             logger.info("[T:" + str(simtime) + "] " + "Box Invalid (size > 5m)")
     else:
-        safedist = SafeDist
-        rospy.loginfo("Safedist: " + str(safedist))
+        rospy.loginfo("Safedist: " + str(SafeDist))
         if WriteFlag == 0:
-            logger.info("Safedist.: " + str(safedist))
+            logger.info("Safedist.: " + str(SafeDist))
         xR = l_x + size * math.cos(math.radians(yaw_degrees))
         yL = l_y + size * math.sin(math.radians(yaw_degrees))
 
@@ -250,7 +249,7 @@ def boxkdetection(size, cordlist, l_x, l_y, yaw_degrees, simtime):
         if WriteFlag == 0:
            logger.info("[T:" + str(simtime) + "] " + "Dist. To nearest Bot Collision point: " + str(temp))
         rospy.loginfo("Dist to collision point: " + str(temp))
-        if temp < safedist:
+        if temp < SafeDist:
            rospy.loginfo("Collision!")
            if WriteFlag == 0:
               logger.info("[T:" + str(simtime) + "] " + "Collision!")