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tools
This repository is made to share tools linked to toaster.
One of the repositories is toaster-scripts. It contains launch files and scripts.
It contains roslaunch files to launch several nodes of the toaster architecture with some parameters.
As an example, the roslaunch file at roslaunch/toaster_simu.launch is running toaster_simu, pdg, agent_monitor, area_manager, toaster_visualizer and rviz. For pdg is uses parameters defined in pdg/params/toaster_simu.yaml so that pdg uses topics from toaster_simu as input.
This repository also provides shell scripts. As an example the script /shell/spencer/area_spencer2.sh will send requests to area_manager to configure areas around a guiding robot as shown in figure below.
In the tools repository, we also provide python scripts.
As an example, the python script in python/simu_set.py is calling services in toaster_simu and agent_monitor to configure the environment and to set an agent Greg as a keyboard controlled entity and a monitored agent.