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Fix pinger location in gymkhana task #438

Merged
merged 3 commits into from
Mar 18, 2022
Merged

Fix pinger location in gymkhana task #438

merged 3 commits into from
Mar 18, 2022

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caguero
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@caguero caguero commented Mar 15, 2022

See issue #437.

How to test it?

  • Launch any of the 2022_practice gymkhana worlds (change the path to the world accordingly):
roslaunch vrx_gazebo gymkhana.launch verbose:=true world:=/home/caguero/vrx2022_ws/src/vrx/vrx_gazebo/worlds/2022_practice/gymkhana0.world
  • Echo the set_pinger_position topic. Open a new terminal and run:
rostopic echo /wamv/sensors/pingers/pinger/set_pinger_position

You should observe that the pinger location is set to something different than the content of the pinger.yaml (-483, 295.5, 0).

  • You can also teleoperate the robot to that location and echo the acoustic pinger:
/wamv/sensors/pingers/pinger/range_bearing

Verify that the range is close to 0.

caguero added 2 commits March 15, 2022 19:23
@caguero
Set the pinger location from the gymkhana plugin.
b19ab50 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@caguero
Tweak
cb14d83 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@caguero caguero changed the title Issue 437 Fix pinger location in gymkhana task Mar 15, 2022
@caguero caguero mentioned this pull request Mar 15, 2022
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@caguero caguero requested a review from M1chaelM March 15, 2022 18:48
@alexperez33 alexperez33 mentioned this pull request Mar 15, 2022
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@j-herman
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@caguero I tested this as described with gymkhana0.world - all looks good! I am going to try generating the worlds via xacro to make sure everything flows through correctly from the yamls and then I will approve.

j-herman
j-herman approved these changes Mar 17, 2022
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All looks good!

@alexperez33 @caguero
Removed set pinger position node from vrx.launch as well (#439)
ed1c292 
* removed set pinger position node from vrx.launch as well

* Update vrx.launch

Co-authored-by: Carlos Agüero <cen.aguero@gmail.com>
@j-herman
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@caguero When I tried starting via roslaunch vrx_gazebo vrx.launch world:=gymkhana0.world the pinger position is not being published - the pinger position stays at the origin. From your comments I think this is not the expected behavior when the gymkhana scoring plugin is running. Do you want me to take a look to see what's up, or did I misunderstand what's supposed to happen?

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caguero commented Mar 18, 2022

roslaunch vrx_gazebo vrx.launch world:=gymkhana0.world

Hmm, I see the position being published. Is gymkhana0.world the one under 2022_practice?

@j-herman
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Never mind - dumb mistake on my part! I am fixing it now and will confirm it's working.

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It's working now. Good to merge.

@caguero caguero merged commit 94385d0 into master Mar 18, 2022
@caguero caguero deleted the issue_437 branch January 5, 2023 21:24
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@j-herman j-herman j-herman approved these changes

@M1chaelM M1chaelM Awaiting requested review from M1chaelM

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