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fixing namespace bug; adding existing astrobee launchfile options to …
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…isaac
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@marinagmoreira
marinagmoreira committed Feb 12, 2024
1 parent 2c03060 commit e75382c
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Showing 2 changed files with 51 additions and 34 deletions.
48 changes: 24 additions & 24 deletions astrobee/survey_manager/survey_planner/launch/survey.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -48,29 +48,29 @@
</group>

<!-- Actions -->
<group ns="/$(arg robot1)">
<node name="move_action_node" pkg="survey_planner" type="move_action_node" output="screen">
</node>
<node name="dock_action_node" pkg="survey_planner" type="dock_action_node" output="screen">
</node>
<node name="undock_action_node" pkg="survey_planner" type="undock_action_node" output="screen">
</node>
<node name="panorama_action_node" pkg="survey_planner" type="panorama_action_node" output="screen">
</node>
<node name="stereo_action_node" pkg="survey_planner" type="stereo_action_node" output="screen">
</node>
</group>
<group ns="/$(arg robot2)">
<node name="move_action_node" pkg="survey_planner" type="move_action_node" output="screen">
</node>
<node name="dock_action_node" pkg="survey_planner" type="dock_action_node" output="screen">
</node>
<node name="undock_action_node" pkg="survey_planner" type="undock_action_node" output="screen">
</node>
<node name="panorama_action_node" pkg="survey_planner" type="panorama_action_node" output="screen">
</node>
<node name="stereo_action_node" pkg="survey_planner" type="stereo_action_node" output="screen">
</node>
</group>
<node name="move_action_node1" pkg="survey_planner" type="move_action_node" output="screen">
</node>
<node name="move_action_node2" pkg="survey_planner" type="move_action_node" output="screen">
</node>

<node name="dock_action_node1" pkg="survey_planner" type="dock_action_node" output="screen">
</node>
<node name="dock_action_node2" pkg="survey_planner" type="dock_action_node" output="screen">
</node>

<node name="undock_action_node1" pkg="survey_planner" type="undock_action_node" output="screen">
</node>
<node name="undock_action_node2" pkg="survey_planner" type="undock_action_node" output="screen">
</node>

<node name="panorama_action_node1" pkg="survey_planner" type="panorama_action_node" output="screen">
</node>
<node name="panorama_action_node2" pkg="survey_planner" type="panorama_action_node" output="screen">
</node>

<node name="stereo_action_node1" pkg="survey_planner" type="stereo_action_node" output="screen">
</node>
<node name="stereo_action_node2" pkg="survey_planner" type="stereo_action_node" output="screen">
</node>
</launch>

37 changes: 27 additions & 10 deletions isaac/launch/sim.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -75,13 +75,15 @@
name="pose"
default="0 0 -0.7 0 0 0 1" /> <!-- granite: perch position -->

<arg name="bumble_pose" default="" /> <!-- Use to overide bumble's pose -->

<!-- Multi-robot simulation -->
<arg name="honey" default="false" /> <!-- Insert a honey robot -->
<arg name="bumble" default="false" /> <!-- Insert a bumble robot -->
<arg name="queen" default="false" /> <!-- Insert a queen robot -->

<arg name="honey_pose" default="" /> <!-- Use to overide honey's pose -->
<arg name="bumble_pose" default="" /> <!-- Use to overide bumble's pose -->
<arg name="queen_pose" default="" /> <!-- Use to overide queen's pose -->

<!-- Make sure all environment variables are set for controller -->
<!-- Override the robot and world environment variables all the time. The -->
<!-- environment variables are the default if they are set. So in this -->
Expand Down Expand Up @@ -208,6 +210,9 @@
<arg name="streaming_mapper" value="$(arg streaming_mapper)" /><!-- Enable the isaac streaming mapper -->
<arg name="acoustics_cam" value="$(arg acoustics_cam)" /><!-- Enable the isaac acoustics cam -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_default" args="call --wait $(arg ns)/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert honey at a canned location -->
Expand All @@ -217,7 +222,10 @@
<arg name="world" value="$(arg world)" /> <!-- Execution context -->
<arg name="ns" value="honey" /> <!-- Robot namespace -->
<arg name="output" value="$(arg output)" /> <!-- Output for logging -->
<arg name="pose" value="9.817 -10.312 4.293 1 0 0 0" /> <!-- Initial robot pose -->
<arg if="$(eval arg('honey_pose') == '')"
name="pose" value="9.817 -10.312 4.293 1 0 0 0" /> <!-- Initial robot pose -->
<arg unless="$(eval arg('honey_pose') == '')"
name="pose" value="$(arg honey_pose)" />
<arg name="drivers" value="false" /> <!-- Start driver code -->
<arg name="spurn" value="$(arg spurn)" /> <!-- Prevent node -->
<arg name="nodes" value="$(arg nodes)" /> <!-- Launch node group -->
Expand All @@ -234,6 +242,9 @@
<arg name="streaming_mapper" value="$(arg streaming_mapper)" /><!-- Enable the isaac streaming mapper -->
<arg name="acoustics_cam" value="$(arg acoustics_cam)" /><!-- Enable the isaac acoustics cam -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_honey" args="call --wait /honey/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert bumble at a canned location -->
Expand All @@ -243,9 +254,9 @@
<arg name="world" value="$(arg world)" /> <!-- Execution context -->
<arg name="ns" value="bumble" /> <!-- Robot namespace -->
<arg name="output" value="$(arg output)" /> <!-- Output for logging -->
<arg if="$(eval arg('bumble_pose') == '')"
name="pose" value="10.5 -7 4.8 0 0 0 1" /> <!-- Initial robot pose -->
<arg unless="$(eval arg('bumble_pose') == '')"
<arg if="$(eval arg('bumble_pose') == '')"
name="pose" value="11 -4 4.8 0 0 0 1" /> <!-- Initial robot pose -->
<arg unless="$(eval arg('bumble_pose') == '')"
name="pose" value="$(arg bumble_pose)" />
<arg name="drivers" value="false" /> <!-- Start driver code -->
<arg name="spurn" value="$(arg spurn)" /> <!-- Prevent node -->
Expand All @@ -263,6 +274,9 @@
<arg name="streaming_mapper" value="$(arg streaming_mapper)" /><!-- Enable the isaac streaming mapper -->
<arg name="acoustics_cam" value="$(arg acoustics_cam)" /><!-- Enable the isaac acoustics cam -->
</include>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_bumble" args="call --wait /bumble/gnc/ekf/init_bias" />
</group>

<!-- Auto-insert queen at a canned location -->
Expand All @@ -272,7 +286,10 @@
<arg name="world" value="$(arg world)" /> <!-- Execution context -->
<arg name="ns" value="queen" /> <!-- Robot namespace -->
<arg name="output" value="$(arg output)" /> <!-- Output for logging -->
<arg name="pose" value="10.5 -8 4.8 0 0 0 1" /> <!-- Initial robot pose -->
<arg if="$(eval arg('queen_pose') == '')"
name="pose" value="11 -10 4.8 0 0 0 1" /> <!-- Initial robot pose -->
<arg unless="$(eval arg('queen_pose') == '')"
name="pose" value="$(arg queen_pose)" />
<arg name="drivers" value="false" /> <!-- Start driver code -->
<arg name="spurn" value="$(arg spurn)" /> <!-- Prevent node -->
<arg name="nodes" value="$(arg nodes)" /> <!-- Launch node group -->
Expand All @@ -289,9 +306,9 @@
<arg name="streaming_mapper" value="$(arg streaming_mapper)" /><!-- Enable the isaac streaming mapper -->
<arg name="acoustics_cam" value="$(arg acoustics_cam)" /><!-- Enable the isaac acoustics cam -->
</include>
</group>

<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration" args="call --wait /gnc/ekf/init_bias" />
<!-- Default call initialize bias so config file is created if not already present -->
<node pkg="rosservice" type="rosservice" name="imu_calibration_queen" args="call --wait /queen/gnc/ekf/init_bias" />
</group>

</launch>

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