From f08ad904c51d84e8d27105a3f7189455e9e261b9 Mon Sep 17 00:00:00 2001 From: marvin <marvin@marvin-TERRA-MOBILE-1529H> Date: Tue, 24 Mar 2020 18:12:13 +0100 Subject: [PATCH] new sonsorconfigs --- .../FeatureModelConfigurator/configs/test.xml | 30 ++++++++++++++++ src/var/FeatureModelConfigurator/modelOld.xml | 34 ------------------ .../other/lds_lfcd_sensor_BAD_RANGE.xml | 35 +++++++++++++++++++ .../other/lds_lfcd_sensor_GOOD_RANGE.xml | 35 +++++++++++++++++++ .../other/lds_lfcd_sensor_HIGH_NOISE.xml | 35 +++++++++++++++++++ src/var/usersetio.config | 5 +-- 6 files changed, 138 insertions(+), 36 deletions(-) create mode 100644 src/var/FeatureModelConfigurator/configs/test.xml delete mode 100644 src/var/FeatureModelConfigurator/modelOld.xml create mode 100644 src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_BAD_RANGE.xml create mode 100644 src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_GOOD_RANGE.xml create mode 100644 src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_HIGH_NOISE.xml diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml new file mode 100644 index 0000000..018ad16 --- /dev/null +++ b/src/var/FeatureModelConfigurator/configs/test.xml @@ -0,0 +1,30 @@ +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<configuration> + <feature automatic="selected" name="ConfiguratorMain"/> + <feature automatic="selected" name="Templates"/> + <feature manual="selected" name="turtlebot3_burger"/> + <feature automatic="unselected" name="turtlebot3_burger_for_autorace"/> + <feature automatic="unselected" name="turtlebot3_burgertest1"/> + <feature automatic="unselected" name="turtlebot3_waffle"/> + <feature automatic="unselected" name="turtlebot3_waffle_pi"/> + <feature automatic="selected" name="Sensors"/> + <feature automatic="unselected" name="NO_CHANGE"/> + <feature automatic="selected" name="Custom"/> + <feature name="Pi_Camera"/> + <feature name="imu"/> + <feature name="lds_lfcd_sensor"/> + <feature name="realsense_R200"/> + <feature name="Pi_Camera___turtlebot3_burger_for_autorace"/> + <feature name="Pi_Camera___turtlebot3_waffle_pi"/> + <feature name="head_rplidar_sensor___turtlebot3_burgertest1"/> + <feature manual="selected" name="imu___turtlebot3_burger"/> + <feature name="imu___turtlebot3_burger_for_autorace"/> + <feature name="imu___turtlebot3_burgertest1"/> + <feature name="imu___turtlebot3_waffle"/> + <feature name="imu___turtlebot3_waffle_pi"/> + <feature manual="selected" name="lds_lfcd_sensor___turtlebot3_burger"/> + <feature name="lds_lfcd_sensor___turtlebot3_burger_for_autorace"/> + <feature name="lds_lfcd_sensor___turtlebot3_waffle"/> + <feature name="lds_lfcd_sensor___turtlebot3_waffle_pi"/> + <feature name="realsense_R200___turtlebot3_waffle"/> +</configuration> diff --git a/src/var/FeatureModelConfigurator/modelOld.xml b/src/var/FeatureModelConfigurator/modelOld.xml deleted file mode 100644 index aa5e275..0000000 --- a/src/var/FeatureModelConfigurator/modelOld.xml +++ /dev/null @@ -1,34 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<featureModel> - <properties> - <graphics key="showhiddenfeatures" value="true"/> - <graphics key="legendautolayout" value="true"/> - <graphics key="showshortnames" value="false"/> - <graphics key="layout" value="horizontal"/> - <graphics key="showcollapsedconstraints" value="true"/> - <graphics key="legendhidden" value="false"/> - <graphics key="layoutalgorithm" value="1"/> - </properties> - <struct> - <and abstract="true" mandatory="true" name="CarConfigurator"> - <and mandatory="true" name="ConfiguratorMain"> - <alt abstract="true" mandatory="true" name="TurtleBot"> - <feature name="Burger"/> - <feature name="Waffle"/> - <feature name="WafflePi"/> - <and abstract="true" name="CustomBot"> - <and abstract="true" name="RangeFinder"> - <graphics key="collapsed" value="false"/> - <alt abstract="true" mandatory="true" name="TwoDRF"> - <graphics key="collapsed" value="false"/> - <feature name="Sensor1"/> - <feature name="Sensor2"/> - <feature name="CustomTwoDRF"/> - </alt> - </and> - </and> - </alt> - </and> - </and> - </struct> -</featureModel> diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_BAD_RANGE.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_BAD_RANGE.xml new file mode 100644 index 0000000..5362ae3 --- /dev/null +++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_BAD_RANGE.xml @@ -0,0 +1,35 @@ +<?xml version="1.0"?> +<configuration> + <gazebo reference="base_scan"> + <material>Gazebo/FlatBlack</material> + <sensor type="ray" name="lds_lfcd_sensor"> + <pose>0 0 0 0 0 0</pose> + <visualize>false</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>0.5</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> +</configuration> diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_GOOD_RANGE.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_GOOD_RANGE.xml new file mode 100644 index 0000000..b830334 --- /dev/null +++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_GOOD_RANGE.xml @@ -0,0 +1,35 @@ +<?xml version="1.0"?> +<configuration> + <gazebo reference="base_scan"> + <material>Gazebo/FlatBlack</material> + <sensor type="ray" name="lds_lfcd_sensor"> + <pose>0 0 0 0 0 0</pose> + <visualize>false</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>30.0</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> +</configuration> diff --git a/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_HIGH_NOISE.xml b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_HIGH_NOISE.xml new file mode 100644 index 0000000..2b3eec8 --- /dev/null +++ b/src/var/FeatureModelConfigurator/resources/input/sensorconfig/other/lds_lfcd_sensor_HIGH_NOISE.xml @@ -0,0 +1,35 @@ +<?xml version="1.0"?> +<configuration> + <gazebo reference="base_scan"> + <material>Gazebo/FlatBlack</material> + <sensor type="ray" name="lds_lfcd_sensor"> + <pose>0 0 0 0 0 0</pose> + <visualize>false</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>0.5</mean> + <stddev>0.9</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> +</configuration> diff --git a/src/var/usersetio.config b/src/var/usersetio.config index 2ea172f..eeef64a 100644 --- a/src/var/usersetio.config +++ b/src/var/usersetio.config @@ -1,6 +1,7 @@ <?xml version="1.0"?> <!-- IO configuration file. --> -<!-- Path (relative path to UserSetIOReader.java location) and name value can be changed. --> +<!-- path, name, remove_prefix and remove_suffix value can be changed. --> +<!-- path must be relative to position directly below FeatureModelConfigurator and FeatureModelImplGenerator directory location). --> <io> <input> <!-- Path to all available .gazebo.xacro files. --> @@ -16,7 +17,7 @@ <!-- Path to and name of the generated .urdf.xacro file. --> <urdf_xacro type="file" name="bot.urdf.xacro" path="./../../../build/sim/" /> <!-- Path to and name of the file stating the selected bots name. --> - <!-- Define prefix/ postfix to be removed from the bots name to be compatible with testmanager.sh. --> + <!-- Define prefix/ suffix to be removed from the bots name to be compatible with testmanager.sh. --> <botname type="file" name="botname.txt" path="./../../../build/sim/" remove_prefix="turtlebot3_" remove_suffix=""/> </output> </io> -- GitLab