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Teambase name updates #477

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merged 1 commit into from
Jun 25, 2020
Merged

Teambase name updates #477

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22 changes: 11 additions & 11 deletions subt_ign/launch/cave_circuit.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1290,15 +1290,15 @@
return spawn, exec
end

def spawnTeamBase(_x, _y, _z, _yaw)
def spawnTeamBase(_name, _x, _y, _z, _yaw)
spawn = <<-HEREDOC
<spawn name='TEAMBASE'>
<name>TEAMBASE</name>
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<world>#{$worldName}</world>
<is_performer>false</is_performer>
<sdf version='1.6'>
<model name='TEAMBASE'>
<model name='#{_name}'>
<pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
<static>true</static>
<link name='link'>
Expand All @@ -1318,10 +1318,10 @@

exec = <<-HEREDOC
<executable name='teambase_description'>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
<executable name='teambase_ros_ign_bridge'>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
HEREDOC

Expand Down Expand Up @@ -1384,13 +1384,15 @@

spawnStringTmp, executables = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)

elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
else
puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
end
elsif config != "TEAMBASE"
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down Expand Up @@ -1432,8 +1434,6 @@
spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
executables = rosExecutables(name, $worldName)
end
else
puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
end

if executables != nil
Expand Down
10 changes: 5 additions & 5 deletions subt_ign/launch/cloudsim_bridge.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -179,12 +179,12 @@
"</executable>\n"
end

def spawnTeamBase()
def spawnTeamBase(_name)
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>\n"\
"</executable>\n"
end
%>
Expand All @@ -203,11 +203,11 @@
<% elsif robotConfigs[i][1] == "4" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5") %>
<%= spawnX4(robotNames[i], robotConfigs[i][-1]) %>
<%
elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase() %>
<%= spawnTeamBase(robotNames[i]) %>
<% end
else
# Try a team-submitted vehicle.
Expand Down
22 changes: 11 additions & 11 deletions subt_ign/launch/cloudsim_sim.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1291,15 +1291,15 @@
return spawn, exec
end

def spawnTeamBase(_x, _y, _z, _yaw)
def spawnTeamBase(_name, _x, _y, _z, _yaw)
spawn = <<-HEREDOC
<spawn name='TEAMBASE'>
<name>TEAMBASE</name>
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<world>#{$worldName}</world>
<is_performer>false</is_performer>
<sdf version='1.6'>
<model name='TEAMBASE'>
<model name='#{_name}'>
<pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
<static>true</static>
<link name='link'>
Expand All @@ -1319,10 +1319,10 @@

exec = <<-HEREDOC
<executable name='teambase_description'>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
<executable name='teambase_ros_ign_bridge'>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
HEREDOC

Expand Down Expand Up @@ -1385,13 +1385,15 @@

spawnStringTmp, executables = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)

elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
else
puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
end
elsif config != "TEAMBASE"
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down Expand Up @@ -1433,8 +1435,6 @@
spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
executables = rosExecutables(name, $worldName)
end
else
puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
end

if executables != nil
Expand Down
22 changes: 11 additions & 11 deletions subt_ign/launch/competition.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1287,15 +1287,15 @@
return spawn, exec
end

def spawnTeamBase(_x, _y, _z, _yaw)
def spawnTeamBase(_name, _x, _y, _z, _yaw)
spawn = <<-HEREDOC
<spawn name='TEAMBASE'>
<name>TEAMBASE</name>
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<world>#{$worldName}</world>
<is_performer>false</is_performer>
<sdf version='1.6'>
<model name='TEAMBASE'>
<model name='#{_name}'>
<pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
<static>true</static>
<link name='link'>
Expand All @@ -1315,10 +1315,10 @@

exec = <<-HEREDOC
<executable name='teambase_description'>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
<executable name='teambase_ros_ign_bridge'>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
HEREDOC

Expand Down Expand Up @@ -1381,13 +1381,15 @@

spawnStringTmp, executables = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)

elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
else
puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
end
elsif config != "TEAMBASE"
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down Expand Up @@ -1429,8 +1431,6 @@
spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
executables = rosExecutables(name, $worldName)
end
else
puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
end

if executables != nil
Expand Down
22 changes: 11 additions & 11 deletions subt_ign/launch/tunnel_circuit_practice.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1290,15 +1290,15 @@
return spawn, exec
end

def spawnTeamBase(_x, _y, _z, _yaw)
def spawnTeamBase(_name, _x, _y, _z, _yaw)
spawn = <<-HEREDOC
<spawn name='TEAMBASE'>
<name>TEAMBASE</name>
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<world>#{$worldName}</world>
<is_performer>false</is_performer>
<sdf version='1.6'>
<model name='TEAMBASE'>
<model name='#{_name}'>
<pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
<static>true</static>
<link name='link'>
Expand All @@ -1318,10 +1318,10 @@

exec = <<-HEREDOC
<executable name='teambase_description'>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
<executable name='teambase_ros_ign_bridge'>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
HEREDOC

Expand Down Expand Up @@ -1384,13 +1384,15 @@

spawnStringTmp, executables = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)

elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
else
puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
end
elsif config != "TEAMBASE"
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down Expand Up @@ -1432,8 +1434,6 @@
spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
executables = rosExecutables(name, $worldName)
end
else
puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
end

if executables != nil
Expand Down
22 changes: 11 additions & 11 deletions subt_ign/launch/urban_circuit.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1290,15 +1290,15 @@
return spawn, exec
end

def spawnTeamBase(_x, _y, _z, _yaw)
def spawnTeamBase(_name, _x, _y, _z, _yaw)
spawn = <<-HEREDOC
<spawn name='TEAMBASE'>
<name>TEAMBASE</name>
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<world>#{$worldName}</world>
<is_performer>false</is_performer>
<sdf version='1.6'>
<model name='TEAMBASE'>
<model name='#{_name}'>
<pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>
<static>true</static>
<link name='link'>
Expand All @@ -1318,10 +1318,10 @@

exec = <<-HEREDOC
<executable name='teambase_description'>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
<executable name='teambase_ros_ign_bridge'>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>
<command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName} name:=#{_name}</command>
</executable>
HEREDOC

Expand Down Expand Up @@ -1384,13 +1384,15 @@

spawnStringTmp, executables = spawnX4(name, robotConfigN, robot.pos.x, robot.pos.y, robot.pos.z, robot.rot.yaw)

elsif name == "TEAMBASE" and config == "TEAMBASE"
elsif config.upcase == "TEAMBASE"
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
spawnStringTmp, executables = spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw)
spawnStringTmp, executables = spawnTeamBase(name, posX, posY, spawnWorldZPos, spawnWorldYaw)
else
puts "Error: Only 1 teambase is allows. Skpping[%s]." % [name]
end
elsif config != "TEAMBASE"
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down Expand Up @@ -1432,8 +1434,6 @@
spawnStringTmp = spawner(name, modelURI, $worldName, robot.pos.x, robot.pos.y, robot.pos.z, 0, 0, robot.rot.yaw)
executables = rosExecutables(name, $worldName)
end
else
puts "Error: Invalid Name[%s] or Config[%s]. Skpping." % [name, config]
end

if executables != nil
Expand Down
3 changes: 2 additions & 1 deletion subt_ros/launch/teambase_description.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<?xml version="1.0"?>
<launch>
<param name="TeamBase/robot_description" command="$(find xacro)/xacro '$(find teambase_description)/urdf/teambase.xacro'"/>
<arg name="name" doc="Name of TeamBase"/>
<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find teambase_description)/urdf/teambase.xacro' name:=$(arg name)"/>
</launch>
3 changes: 2 additions & 1 deletion subt_ros/launch/teambase_topics.launch
View file
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<?xml version="1.0"?>
<launch>
<node pkg="tf2_ros" type="static_transform_publisher" name="tf_teambase_static" args="0 0 0.05 0 0 0 TeamBase TeamBase/link"/>
<arg name="name" default="TEAMBASE"/>
<node pkg="tf2_ros" type="static_transform_publisher" name="tf_teambase_static" args="0 0 0.05 0 0 0 $(arg name) $(arg name)/link"/>
</launch>
3 changes: 2 additions & 1 deletion teambase_description/urdf/teambase.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
<?xml version='1.0' encoding='utf-8'?>
<robot name="TeamBase" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="robot_namespace" value="TeamBase"/>
<xacro:arg name="name" default="TeamBase"/>
<xacro:property name="robot_namespace" value="$(arg name)"/>

<link name='${robot_namespace}/link'>
<visual name='visual'>
Expand Down