diff --git a/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py b/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py index d87c7bc..e8ccf63 100644 --- a/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py +++ b/phoenix_gazebo/launch/include/hybrid_pp/hybrid_pp.launch.py @@ -81,7 +81,7 @@ def generate_launch_description(): default_value='4.0', description='Maximum speed'), DeclareLaunchArgument('min_speed', - default_value='0.5', + default_value='1.0', description='Minimum speed'), DeclareLaunchArgument('avoidance_radius', default_value='2.0', diff --git a/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py b/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py index e737b77..678eed2 100644 --- a/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py +++ b/phoenix_gazebo/launch/include/road_detectors/obj_detector_cv.launch.py @@ -33,8 +33,8 @@ def generate_launch_description(): det = Node( package='obj_detector_cv', - executable='obj_detector_cv', - name='obj_detector_cv', + executable='cv_subscriber', + name='cv_subscriber', output='screen', parameters=[{ 'use_sim_time': use_sim_time, diff --git a/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py b/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py index c0e5c52..fd7d03e 100644 --- a/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py +++ b/phoenix_gazebo/launch/include/sensor_processor/sensor_processor.launch.py @@ -37,9 +37,6 @@ def generate_launch_description(): executable='sensor_processor', name='sensor_processor', output='screen', - remappings=[ - ('/lidar/filtered_scan', '/scan'), - ], parameters=[{ 'use_sim_time': use_sim_time }]) diff --git a/phoenix_gazebo/launch/sim.launch.py b/phoenix_gazebo/launch/sim.launch.py index 2702d02..18b3c79 100644 --- a/phoenix_gazebo/launch/sim.launch.py +++ b/phoenix_gazebo/launch/sim.launch.py @@ -83,7 +83,7 @@ def generate_launch_description(): poly_plan = IncludeLaunchDescription( PythonLaunchDescriptionSource([ os.path.join(pkg_phoenix_gazebo, 'launch'), - '/include/polynomial_planner/polynomial_planner.launch.py' + '/include/polynomial_planner/polynomial_planner_ai.launch.py' ]), launch_arguments={ 'use_sim_time': use_sim_time, diff --git a/phoenix_gazebo/webots_project/protos/Phoenix2.proto b/phoenix_gazebo/webots_project/protos/Phoenix2.proto index 1cf0e06..859a86c 100755 --- a/phoenix_gazebo/webots_project/protos/Phoenix2.proto +++ b/phoenix_gazebo/webots_project/protos/Phoenix2.proto @@ -12,7 +12,7 @@ EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/proje PROTO Phoenix2 [ field SFVec3f translation 0 0 0 field SFRotation rotation 0 0 1 0 - field SFString name "Phoenix" # Is PHOENIX V2 By Derek Servin + field SFString name "Phoenix" # Is Phoenix2 By Derek Servin field SFString controller "" # Is `Robot.controller`. field MFString controllerArgs [] # Is `Robot.controllerArgs`. field SFBool supervisor FALSE # Is `Robot.supervisor`. @@ -145,7 +145,7 @@ PROTO Phoenix2 [ # Lidar Solid { - translation 1.40000 0.000000 0.250000 + translation 1.2 -0.01 0.25 #1.40000 0.000000 0.250000 children [ SickS300 { enablePhysics FALSE noise 0.05 } ] @@ -191,17 +191,24 @@ PROTO Phoenix2 [ ] } } - DEF Blackstruct Shape { - appearance PBRAppearance { - baseColor 0 0 0 - roughness 0.2 - metalness 0.5 - } - geometry Mesh { - url [ - "../../models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj" - ] - } + DEF Blackstruct Transform { + translation 0 0.04 0 + scale 1 0.9 1 + children [ + DEF Blackstruct Shape { + appearance PBRAppearance { + baseColor 0 0 0 + roughness 0.2 + metalness 0.5 + } + geometry Mesh { + url [ + "/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__blackStructure.obj" + ] + } + castShadows FALSE + } + ] } DEF RRBumper Shape { appearance PBRAppearance { @@ -216,18 +223,25 @@ PROTO Phoenix2 [ } } Pose { - translation 0 0.04 0 + translation 0 0.04 -0.14 children [ - DEF FRBumper Shape { - appearance PBRAppearance { - roughness 1 - metalness 0 - } - geometry Mesh { - url [ - "../../models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj" - ] - } + Transform { + translation 0 0 0.41 + scale 1 0.8 0.6 + children [ + DEF FRBumper Shape { + appearance PBRAppearance { + roughness 1 + metalness 0 + } + geometry Mesh { + url [ + "/home/derek/Phoenix_ws/src/Phoenix/phoenix_gazebo/models/phoenix_elements/phoenix_3Dmodel__frontBumper.obj" + ] + } + castShadows FALSE + } + ] } ] translationStep 0.02 diff --git a/phoenix_robot/launch/common.launch.py b/phoenix_robot/launch/common.launch.py index 522aef0..1bd3025 100644 --- a/phoenix_robot/launch/common.launch.py +++ b/phoenix_robot/launch/common.launch.py @@ -67,7 +67,7 @@ def generate_launch_description(): ]), launch_arguments={ 'use_sim_time': use_sim_time, - 'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config', 'ros2_sick', 'sick_lms111.yaml']) + 'config_file': PathJoinSubstitution([pkg_phoenix_robot, 'config' ]) # , 'ros2_sick', 'sick_lms111.yaml']) }.items(), ) @@ -156,7 +156,6 @@ def generate_launch_description(): state_publishers, ekf, camera, - sick, pir, pp, obj_detector_ai, diff --git a/phoenix_robot/launch/include/oakd/dual_cameras.launch.py b/phoenix_robot/launch/include/oakd/dual_cameras.launch.py index e40061c..9508ebf 100644 --- a/phoenix_robot/launch/include/oakd/dual_cameras.launch.py +++ b/phoenix_robot/launch/include/oakd/dual_cameras.launch.py @@ -19,10 +19,7 @@ def generate_launch_description(): cameral = GroupAction( actions=[ # Topic remaps - SetRemap('/oakl/stereo/image_raw', '/camera/left/depth'), - SetRemap('/oakl/stereo/camera_info', '/camera/left/depth/camera_info'), - SetRemap('/oakl/stereo/image_raw/compressed', '/camera/left/depth/compressed'), - SetRemap('/oakl/rgb/image_raw', '/camera/left/rgb'), + SetRemap('/oakl/sIncludeLaunchDescriptiongb/image_raw', '/camera/left/rgb'), SetRemap('/oakl/rgb/image_raw/compressed', '/camera/left/rgb/compressed'), SetRemap('/oakl/rgb/image_raw/theora', '/camera/left/rgb/compressed/theora'), SetRemap('/oakl/rgb/camera_info', '/camera/left/rgb/camera_info'),