From 45096b6e25be090d9f179c16fd3aa4b95fd03150 Mon Sep 17 00:00:00 2001 From: s-hosoai Date: Wed, 26 Oct 2022 17:49:14 +0900 Subject: [PATCH 1/2] remove # in code block --- README.md | 2 +- README_jp.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 8781fb1..7fdbbec 100644 --- a/README.md +++ b/README.md @@ -131,7 +131,7 @@ bash docker/run.bash ### 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 index da3f5a2..d291a16 100644 --- a/README_jp.md +++ b/README_jp.md @@ -126,7 +126,7 @@ bash docker/run.bash ### 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 From 0ebf820bfb60ad68a317794b0f2fd228dd1f9fdc Mon Sep 17 00:00:00 2001 From: s-hosoai Date: Wed, 26 Oct 2022 18:00:56 +0900 Subject: [PATCH 2/2] regenerate json files --- settings/tb3/LoginRobot.json | 22 ++------- settings/tb3/RosTopics.json | 93 ++++++++++++++++++++++++++++-------- 2 files changed, 78 insertions(+), 37 deletions(-) diff --git a/settings/tb3/LoginRobot.json b/settings/tb3/LoginRobot.json index 3526f8d..f545114 100644 --- 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 index 1479d05..ff0b227 100644 --- 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 }