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Add an idle robot conflict scenario #213

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Add an idle robot conflict scenario #213

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a8f9cd4
Make launch files more generic
mxgrey Jan 29, 2021
f607c7d
Fix merge
mxgrey Feb 24, 2021
4dc5bcc
debugging
mxgrey Mar 2, 2021
96736b3
Merge remote-tracking branch 'origin/master' into feature/generic_launch
mxgrey Mar 2, 2021
f490f52
Create an idle conflict scenario
mxgrey Mar 3, 2021
aeed181
Move launch file into correct directory
mxgrey Mar 3, 2021
a804513
Reduce vicinity since the office is cramped
mxgrey Mar 3, 2021
85ebead
Cleanup
mxgrey Mar 3, 2021
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2 changes: 1 addition & 1 deletion demos/launch/include/adapters/tinyRobot_adapter.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
<!-- The radius of the circular footprint of this fleet's vehicles -->
<arg name="footprint_radius" value="0.3"/>
<!-- Other robots are not allowed within this radius -->
<arg name="vicinity_radius" value="1.5"/>
<arg name="vicinity_radius" value="1.0"/>

<!-- Whether to use sim time -->
<arg name="use_sim_time" value="$(var use_sim_time)"/>
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6 changes: 4 additions & 2 deletions demos/launch/include/office/office_conflict.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
<?xml version='1.0' ?>
<launch>
<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s pantry -f supplies -n 10 --use_sim_time" output="both"/>
<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s pantry -f coe -n 10 --use_sim_time" output="both"/>
<arg name="loops" default="10" description="How many loops to perform"/>

<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s pantry -f supplies -n $(var loops) --use_sim_time" output="both"/>
<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s pantry -f coe -n $(var loops) --use_sim_time" output="both"/>
</launch>
7 changes: 7 additions & 0 deletions demos/launch/include/office/office_idle_conflict.launch.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
<?xml version='1.0' ?>
<launch>
<arg name="loops" default="10" description="How many loops to perform"/>

<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s pantry -f supplies -n $(var loops) --use_sim_time" output="both"/>
<executable cmd="ros2 run rmf_demo_tasks dispatch_loop -s midpoint -f midpoint -n 1 --use_sim_time" output="both"/>
</launch>
6 changes: 4 additions & 2 deletions rmf_demo_maps/maps/office/office.building.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@ levels:
- [59, 47, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [41, 42, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [41, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [60, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [61, 43, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [54, 62, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [62, 60, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
Expand All @@ -45,6 +44,8 @@ levels:
- [53, 65, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [59, 67, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [59, 45, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [60, 68, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
- [68, 61, {bidirectional: [4, true], demo_mock_floor_name: [1, ""], demo_mock_lift_name: [1, ""], graph_idx: [2, 0], orientation: [1, ""]}]
layers:
{}
measurements:
Expand Down Expand Up @@ -177,13 +178,14 @@ levels:
- [739.949, 415.296, 0, supplies, {is_parking_spot: [4, true]}]
- [2212.395, 460.219, 0, ""]
- [1366.239, 826.509, 0, ""]
- [1807.172, 818.48, 0, ""]
- [1802.152, 820.4400000000001, 0, ""]
- [1367.169, 1092.705, 0, ""]
- [1791.591, 1091.841, 0, ""]
- [769.867, 618.148, 0, ""]
- [2016.125, 1310.955, 0, ""]
- [2468.096, 1217.693, 0, ""]
- [2412.581, 627.5, 0, tinyRobot2_charger, {is_charger: [4, true], is_holding_point: [4, true], is_parking_spot: [4, true], spawn_robot_name: [1, tinyRobot2], spawn_robot_type: [1, TinyRobot]}]
- [1579.341, 822.827, 0, midpoint]
walls:
- [6, 7, {alpha: [3, 1], texture_name: [1, default]}]
- [7, 12, {alpha: [3, 1], texture_name: [1, default]}]
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