Merge pull request #45 from toppers/fix_json_files

Fix json files
toppers · Nov 25, 2022 · 17367a2 · 17367a2
2 parents c0cd1e4 + 0ebf820
commit 17367a2
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Showing 4 changed files with 80 additions and 39 deletions.
diff --git a/README.md b/README.md
@@ -131,7 +131,7 @@ bash docker/run.bash <port>
 ### Install the Hakoniwa ROS environment on the launched docker container
 
 ```
-# bash hako-install.bash opt all
+bash hako-install.bash opt all
 ```
 
 ### Open Unity project

diff --git a/README_jp.md b/README_jp.md
@@ -126,7 +126,7 @@ bash docker/run.bash <port>
 ### 起動した dockerコンテナ上で箱庭のROS環境をインストール
 
 ```
-# bash hako-install.bash opt all
+bash hako-install.bash opt all
 ```
 
 ### Unity プロジェクトを開く

diff --git a/settings/tb3/LoginRobot.json b/settings/tb3/LoginRobot.json
@@ -1,30 +1,16 @@
 {
   "robos": [
     {
-      "roboname": "EV3TrainModel",
-      "robotype": "EV3TrainModel",
+      "roboname": "TB3RoboModel",
+      "robotype": "TB3RoboModel",
       "pos": {
-        "X": -41.03,
-        "Y": 1.6,
-        "Z": -42.86
-      },
-      "angle": {
         "X": 0.0,
-        "Y": 180.0,
+        "Y": 0.0,
         "Z": 0.0
-      }
-    },
-    {
-      "roboname": "EV3SignalModel",
-      "robotype": "EV3SignalModel",
-      "pos": {
-        "X": 30.57,
-        "Y": 5.78,
-        "Z": -13.93
       },
       "angle": {
         "X": 0.0,
-        "Y": 0.0,
+        "Y": 90.0,
         "Z": 0.0
       }
     }

diff --git a/settings/tb3/RosTopics.json b/settings/tb3/RosTopics.json
@@ -1,48 +1,103 @@
 {
-  "robot_num": 2,
-  "ros_robot_num": 2,
+  "robot_num": 1,
+  "ros_robot_num": 1,
   "hakoenv_num": 0,
   "fields": [
     {
-      "topic_message_name": "EV3TrainModel_ev3_sensor",
-      "topic_type_name": "ev3_msgs/Ev3PduSensor",
-      "robot_name": "EV3TrainModel",
+      "topic_message_name": "TB3RoboModel_imu",
+      "topic_type_name": "sensor_msgs/Imu",
+      "robot_name": "TB3RoboModel",
       "sub": false,
       "pub_option": {
-        "cycle_scale": 1,
+        "cycle_scale": 10,
         "latch": false,
         "queue_size": 1
       }
     },
     {
-      "topic_message_name": "EV3TrainModel_ev3_actuator",
-      "topic_type_name": "ev3_msgs/Ev3PduActuator",
-      "robot_name": "EV3TrainModel",
-      "sub": true,
+      "topic_message_name": "TB3RoboModel_odom",
+      "topic_type_name": "nav_msgs/Odometry",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
+      "pub_option": {
+        "cycle_scale": 10,
+        "latch": false,
+        "queue_size": 1
+      }
+    },
+    {
+      "topic_message_name": "TB3RoboModel_tf",
+      "topic_type_name": "tf2_msgs/TFMessage",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
       "pub_option": {
-        "cycle_scale": 1,
+        "cycle_scale": 10,
         "latch": false,
         "queue_size": 1
       }
     },
     {
-      "topic_message_name": "EV3SignalModel_ev3_sensor",
-      "topic_type_name": "ev3_msgs/Ev3PduSensor",
-      "robot_name": "EV3SignalModel",
+      "topic_message_name": "TB3RoboModel_joint_states",
+      "topic_type_name": "sensor_msgs/JointState",
+      "robot_name": "TB3RoboModel",
       "sub": false,
       "pub_option": {
-        "cycle_scale": 1,
+        "cycle_scale": 10,
         "latch": false,
         "queue_size": 1
       }
     },
     {
-      "topic_message_name": "EV3SignalModel_ev3_actuator",
-      "topic_type_name": "ev3_msgs/Ev3PduActuator",
-      "robot_name": "EV3SignalModel",
+      "topic_message_name": "TB3RoboModel_cmd_vel",
+      "topic_type_name": "geometry_msgs/Twist",
+      "robot_name": "TB3RoboModel",
       "sub": true,
       "pub_option": {
-        "cycle_scale": 1,
+        "cycle_scale": 10,
+        "latch": false,
+        "queue_size": 1
+      }
+    },
+    {
+      "topic_message_name": "TB3RoboModel_image",
+      "topic_type_name": "sensor_msgs/Image",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
+      "pub_option": {
+        "cycle_scale": 100,
+        "latch": false,
+        "queue_size": 1
+      }
+    },
+    {
+      "topic_message_name": "TB3RoboModel_image/compressed",
+      "topic_type_name": "sensor_msgs/CompressedImage",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
+      "pub_option": {
+        "cycle_scale": 100,
+        "latch": false,
+        "queue_size": 1
+      }
+    },
+    {
+      "topic_message_name": "TB3RoboModel_camera_info",
+      "topic_type_name": "sensor_msgs/CameraInfo",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
+      "pub_option": {
+        "cycle_scale": 10,
+        "latch": false,
+        "queue_size": 1
+      }
+    },
+    {
+      "topic_message_name": "TB3RoboModel_scan",
+      "topic_type_name": "sensor_msgs/LaserScan",
+      "robot_name": "TB3RoboModel",
+      "sub": false,
+      "pub_option": {
+        "cycle_scale": 10,
         "latch": false,
         "queue_size": 1
       }