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Adding deps for planners to poetry | Enablong gazebo actor script | Minor fixes for planner configs #39

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Adding deps for planners to poetry | Enablong gazebo actor script | Minor fixes for planner configs #39

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b76906f
Merge pull request #35 from Arena-Rosnav/master
ReykCS Feb 2, 2023
5e41c9f
Merge pull request #36 from Arena-Rosnav/master
ReykCS Feb 3, 2023
ecbd0c0
Rewrite script for adding peds to Gazebo worlds
Jacenty00 Feb 14, 2023
02ac052
Adding back pedsim func to Gazebo env
Jacenty00 Feb 14, 2023
103b5b3
Add new planers / pedsim to .rosinstall
Jacenty00 Feb 14, 2023
878ac8f
Adding new planners' deps to poetry
Jacenty00 Feb 14, 2023
a0f0900
Change controller freq for DWA | Remove usage of speed arg for TEB
Jacenty00 Feb 14, 2023
239c78a
Merge remote-tracking branch 'origin/master' into adding_planners
Jacenty00 Feb 17, 2023
d0f9a48
Merge remote-tracking branch 'origin/master' into adding_planners
Jacenty00 Feb 17, 2023
0866cda
Auto stash before merge of "adding_planners" and "origin/master"
Jacenty00 Feb 17, 2023
956f3d8
Add most of other planner's dependencies
Jacenty00 Feb 17, 2023
4a143f8
Adding back gazebo actor generator script
Jacenty00 Feb 18, 2023
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24 changes: 24 additions & 0 deletions .rosinstall
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Original file line number Diff line number Diff line change
Expand Up @@ -76,3 +76,27 @@
local-name: ../planners/mpc
uri: https://github.com/rst-tu-dortmund/mpc_local_planner
version: master
- git:
local-name: ../planners/all_in_one
uri: https://github.com/Arena-Rosnav/all_in_one
version: master
- git:
local-name: ../planners/applr
uri: https://github.com/Arena-Rosnav/applr
version: master
- git:
local-name: ../planners/lflh
uri: https://github.com/Arena-Rosnav/lflh
version: master
- git:
local-name: ../planners/dragon
uri: https://github.com/Arena-Rosnav/dragon
version: master
- git:
local-name: ../planners/trail
uri: https://github.com/Arena-Rosnav/trail
version: master
- git:
local-name: ../planners/cohan
uri: https://github.com/Arena-Rosnav/cohan_planner_multi
version: master
2 changes: 1 addition & 1 deletion arena_bringup/launch/testing/move_base/move_base_applr.launch
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Expand Up @@ -63,7 +63,7 @@

<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="controller_frequency" value="5.0" />
<param name="controller_frequency" value="20.0" />
<param name="controller_patience" value="15.0" />
<param name="planner_frequency" value="5.0" />
<param name="max_planning_retries" value="5.0" />
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2 changes: 1 addition & 1 deletion arena_bringup/launch/testing/move_base/move_base_dwa.launch
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Expand Up @@ -15,7 +15,7 @@

<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="controller_frequency" value="5.0" />
<param name="controller_frequency" value="20.0" />
<param name="controller_patience" value="15.0" />
<param name="planner_frequency" value="1.0" />

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1 change: 0 additions & 1 deletion arena_bringup/launch/testing/move_base/move_base_teb.launch
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Expand Up @@ -20,7 +20,6 @@

<!-- teb -->
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
<param name="TebLocalPlannerROS/max_vel_x" value="$(arg speed)" />
<!-- <param name="controller_frequency" value="5.0" /> -->
<!-- <param name="controller_patience" value="15.0" /> -->
<!-- <param name="planner_frequency" value="1.0" /> -->
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5 changes: 2 additions & 3 deletions arena_bringup/launch/testing/simulators/gazebo.launch
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Expand Up @@ -13,9 +13,9 @@

<arg name="visualization" default="" />

<!-- <node name="generate_world" pkg="gazebo_utils" type="generate_world.py">
<node name="generate_world" pkg="gazebo_utils" type="generate_world.py">
<param name="world" value="$(arg world)"/>
</node> -->
</node>

<!-- start World (Scenario) file in Gazebo -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
Expand All @@ -32,6 +32,5 @@
<arg name="show_rviz" value="$(arg show_rviz)" />
</include>

<node pkg="pedsim_gazebo_plugin" type="spawn_pedsim_agents.py" name="spawn_pedsim_agents" output="screen" />

</launch>
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