Rebase from 'upstream'

CHANGELOG.rst

@@ -19,6 +19,15 @@ Changelog for package strands_morse
 * Switch to system python3.
 * Contributors: Chris Burbridge
 
+0.2.3 (2018-09-30)
+------------------
+* Merge pull request `#175 <https://github.com/strands-project/strands_morse/issues/175>`_ from francescodelduchetto/kinetic-devel
+  the collection museum simulation
+* simulation scaled according to real-world measures
+* better lights for simulation
+* the collection museum simulation
+* Contributors: Marc Hanheide, francescodelduchetto
+
 0.2.2 (2017-09-03)
 ------------------
 

CMakeLists.txt

@@ -157,6 +157,10 @@ install(DIRECTORY tsc
       DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
       )
 
+install(DIRECTORY collection
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+      )
+
 
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html

collection/collection.py

@@ -0,0 +1,37 @@
+#! /usr/bin/env morseexec
+
+""" Basic MORSE simulation scene for <strands_sim> environment
+
+Feel free to edit this template as you like!
+"""
+import math
+from morse.builder import *
+from strands_sim.builder.robots import Scitosa5
+
+#robot = Ranger()
+robot = Scitosa5(with_cameras=Scitosa5.WITH_OPENNI)
+
+robot.translate(x=8.6, y=4, z=1)
+#robot.translate(x=1, y=7.62, z=0.0)
+robot.rotate(0, 0, 3.141592)
+
+# Battery discharging rate, in percent per seconds
+# The bateery state is published to /battery
+robot.battery.properties(DischargingRate=0.015)
+
+docking_station = PassiveObject('strands_sim/robots/docking_station.blend','dockingStation')
+docking_station.properties(Object = True)
+docking_station.properties(ChargingZone = True)
+docking_station.translate(8.4, 4, 0.385)
+docking_station.rotate(0, 0, math.pi + 0.2)
+
+docking_station_label = PassiveObject('strands_sim/robots/docking_station_label.blend','dockingStationLabel')
+docking_station_label.properties(Object = True)
+docking_station_label.translate(8.3, 4, 1.75)
+docking_station_label.rotate(math.pi/2, 0, math.pi/2 + 0.17)
+
+# Set the environment
+model_file=os.path.join(os.path.dirname(os.path.abspath( __file__ )),'data/thecollectionscaled.blend')
+env = Environment(model_file,fastmode=False)
+env.set_camera_location([7.0, 15.0, 15.0])
+env.set_camera_rotation([math.pi/6, 0, math.pi])

collection/collection_fast.py

@@ -0,0 +1,37 @@
+#! /usr/bin/env morseexec
+
+""" Basic MORSE simulation scene for <strands_sim> environment
+
+Feel free to edit this template as you like!
+"""
+
+from morse.builder import *
+from strands_sim.builder.robots import Scitosa5
+
+#robot = Ranger()
+robot = Scitosa5(with_cameras=Scitosa5.WITHOUT_CAMERAS)
+
+robot.translate(x=8.6, y=4, z=1)
+#robot.translate(x=1, y=7.62, z=0.0)
+robot.rotate(0, 0, 3.141592)
+
+# Battery discharging rate, in percent per seconds
+# The bateery state is published to /battery
+robot.battery.properties(DischargingRate=0.01)
+
+docking_station = PassiveObject('strands_sim/robots/docking_station.blend','dockingStation')
+docking_station.properties(Object = True)
+docking_station.properties(ChargingZone = True)
+docking_station.translate(8.4, 4, 0.385)
+docking_station.rotate(0, 0, math.pi + 0.2)
+
+docking_station_label = PassiveObject('strands_sim/robots/docking_station_label.blend','dockingStationLabel')
+docking_station_label.properties(Object = True)
+docking_station_label.translate(8.3, 4, 1.75)
+docking_station_label.rotate(math.pi/2, 0, math.pi/2 + 0.17)
+
+# Set the environment
+model_file=os.path.join(os.path.dirname(os.path.abspath( __file__ )),'data/thecollectionscaled.blend')
+env = Environment(model_file,fastmode=True)
+env.set_camera_location([7.0, 15.0, 15.0])
+env.set_camera_rotation([math.pi/6, 0, math.pi])

collection/launch/collection_morse.launch

@@ -0,0 +1,9 @@
+<launch>
+  <arg name="env" default="collection"/>
+
+  <!-- Scitos robot -->
+  <include file="$(find strands_morse)/launch/scitos.launch"/>
+
+  <node pkg="strands_morse" type="simulator.sh" respawn="false" name="strands_morse" output="screen" args="collection $(arg env).py"/>
+  <node pkg="strands_morse" type="human_pose_simulator.py" respawn="true" name="human_pose_simulator" output="screen"/>
+</launch>

collection/launch/collection_nav2d.launch

@@ -0,0 +1,15 @@
+<launch>
+  <!-- declare arg to be passed in -->
+  <arg name="env" default="collection1-cropped"/> 
+  <arg name="with_chest_xtion" default="false"/>
+
+
+  <!-- 2D Navigation -->
+  <include file="$(find strands_movebase)/launch/movebase.launch">
+      <arg name="map" value="$(find strands_morse)/collection/maps/$(arg env).yaml"/>
+      <arg name="with_chest_xtion" value="$(arg with_chest_xtion)"/>
+  </include>
+
+  <node name="static_transform_publisher" pkg="tf" type="static_transform_publisher" args="-11 -2.5 0.1 0 0 3.141592 0 /world /map 100"/>
+
+</launch>

collection/maps/collection1-cropped.yaml

@@ -0,0 +1,6 @@
+free_thresh: 0.196
+image: collection1-cropped.pgm
+negate: 0
+occupied_thresh: 0.65
+origin: [-47.85, -23.05, 0.0]
+resolution: 0.05

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>strands_morse</name>
-  <version>0.2.2</version>
+  <version>0.2.3</version>
   <description>The strands_morse package</description>
 
   <maintainer email="[email protected]">Marc Hanheide</maintainer>