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update noise and delay mode #35

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update noise and delay mode #35

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10 changes: 10 additions & 0 deletions arena_bringup/launch/start_arena_flatland.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,12 @@
<arg name="local_planner" default="teb"/>
<arg name="rviz_file" default="nav_LP"/>

<arg name="noise_mode" default="0"/>
<param name="noise_mode" value="$(arg noise_mode)"/>

<arg name="delay" default="1"/>
<param name="delay" value="$(arg delay)"/>

<arg name="train_mode" default="false"/>
<arg name="disable_scenario" default="true"/>
<arg name="scenario_file" default="empty_map.json"/>
Expand Down Expand Up @@ -71,6 +77,10 @@
<arg name="odom_ground_truth" default="$(arg odom_ground_truth)"/>
</include>

<!-- start scan_noise node -->
<include file="$(find arena_bringup)/launch/sublaunch/scan_process.launch">
</include>

<!-- start task_generator node -->
<include file="$(find arena_bringup)/launch/sublaunch/task_generator.launch" unless="$(arg disable_scenario)">
<arg name="scenarios_json_path" value="$(find simulator_setup)/scenarios/$(arg scenario_file)"/>
Expand Down
3 changes: 2 additions & 1 deletion arena_bringup/launch/sublaunch/flatland_simulator.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

<!-- launch flatland server -->
<node name="flatland_server" pkg="flatland_server" type="flatland_server" output="screen">
<remap from="/scan" to="/scan_original"/>
<param name="world_path" value="$(arg world_path)" />
<param name="update_rate" value="$(arg update_rate)" />
<param name="step_size" value="$(arg step_size)" />
Expand Down Expand Up @@ -46,4 +47,4 @@
<node name="flatland_rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find arena_bringup)/rviz/$(arg rviz_file).rviz"/>
</group>

</launch>
</launch>
9 changes: 9 additions & 0 deletions arena_bringup/launch/sublaunch/scan_process.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@

<launch>

<!-- ************** task generator *************** -->
<node pkg="scan_process" name="scan_process" type="scan_process.py" output="screen">

</node>

</launch>
147 changes: 147 additions & 0 deletions .../arena_local_planner/evaluation/scripts/quantitative/run_1_2/cadrl_empty_obs05_vel01.json
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Original file line number Diff line number Diff line change
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147 changes: 147 additions & 0 deletions .../arena_local_planner/evaluation/scripts/quantitative/run_1_2/cadrl_empty_obs10_vel01.json
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Original file line number Diff line number Diff line change
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