Commit 10119a7c authored by Leroy John Rügemer's avatar Leroy John Rügemer
Browse files

tiago sim

parent 275fd9c7
name: TiagoMinimal
env: ../env/tiago_minimal_env.sh
groups:
- !include ../../components/groups/default_group.yaml
- !include ../../components/groups/nav_group.yaml
- !include ../../components/groups/sim_group.yaml
- name: Other
components:
- !include ../../components/rviz.yaml
- !include ../../components/moveit.yaml
exclude:
- tf_train
log_umask: 0o000
local_monitor: True
remote_monitor: True
remote_stat_rate: 0.5
local_stat_rate: 2
shell_path: /bin/bash
verbose_checks: True
monitoring_rate: 1
\ No newline at end of file
#!/bin/bash
# Set Basepc
export basepc=$(hostname -s)
@ENVFILE_melodic-clf@
@ENVFILE_default_paths@
@ENVFILE_cupro@
......
#!/usr/bin/env bash
if [[ -z "${SIMMODE}" ]]; then
export SIMMODE="false"
fi
export basepc=$(hostname -s)
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export prefix="/vol/tiago/melodic-robocup/"
export ecwm_prefix="$prefix"
export laptop=${basepc}
export robot=${basepc}
export ROBOT_VERSION="steel"
#Simulation map/world
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_map.yaml"
export SIMULATION_WORLD="clf"
export GAZEBO_MODEL_PATH="${prefix}/share/rcsim_gazebo/models:${GAZEBO_MODEL_PATH}"
# Pose where the robot is spawned
export SPAWN_POSE_X="-3.6"
export SPAWN_POSE_Y="-1.8"
export SPAWN_POSE_ANGLE="1.5"
else
echo "### SIMMODE IS NOT ACTIVE ###"
export prefix="/vol/tiago/melodic-clf"
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
export laptop=neuromancer
export robot=tiago-47c
#Real map
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_cupro_2.yaml"
#export alsa_device="plug_tiago_mono"
fi
#Laptop setup
export ROS_MASTER_URI=http://${robot}:11311
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
#ECWM World
export ECWM_WORLD="clf_cupro.yaml"
#Map/World paths
export PATH_TO_MAPS="${prefix}/share/tiago_clf_nav/data"
#PocketSphinx paths
export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
#export PATH_TO_PSA_CONFIG="/home/pal/projects/robocup-speechrec/psConfig" #local config
# Path to bonsai config
export PATH_TO_BONSAI_ROBOCUP_CONFIG="${prefix}/opt/bonsai_robocup_addons/etc/bonsai_configs"
export PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG="${prefix}/opt/bonsai_robocup_exercise/etc/bonsai_configs"
export PATH_TO_BONSAI_TIAGO_CONFIG="${prefix}/opt/bonsai_tiago_addons/etc/bonsai_configs"
# Path to scxml locations
export PATH_TO_BONSAI_ROBOCUP_SCXML="${prefix}/opt/bonsai_robocup_addons/etc/state_machines"
export PATH_TO_BONSAI_CORE_SCXML="${prefix}/opt/bonsai-scxml_engine/etc/behaviors"
export PATH_TO_BONSAI_ROBOCUPTASKS_SCXML="${prefix}/opt/bonsai_robocup_exercise/etc/state_machines"
export PATH_TO_BONSAI_PEPPER_SCXML="${prefix}/opt/bonsai2-pepper-dist/etc/state_machines"
export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_machines"
# Create mapping variable, used by bonsai to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
export PATH="${prefix}/bin:$PATH"
##########
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/cupro_demo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/cuproKitchen.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/cupro.conf"
# Rviz config
export RVIZ_CONFIG="${ecwm_prefix}/share/ecwm_cupro/config/demo3.rviz"
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
export KINECT_COLOR_XML="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
export KINECT_DEPTH_XML="${SEGMENTATION_CONFIGS}/kinect-depth-vga.xml"
export SEGMENTER_PATH="${SEGMENTATION_CONFIGS}/segmentation_config.xml"
export ROBOT_FILTER="${SEGMENTATION_CONFIGS}/robotfilter.xml"
export OBJECT_MERGER_THRESHOLD=0.5
# Default KBASE locations
export PATH_TO_MONGOD_CONFIG="$prefix/share/robocup_data/mongod/mongod.conf"
export PATH_TO_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/use_challenge_db.yaml"
export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/edit_challenge_db.yaml"
#object
export OBJECT_DET_PATH="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${OBJECT_DET_PATH}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${OBJECT_DET_PATH}/detection/label_map.pbtxt"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/cupro_02"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
export GRASPING_OBJECTS_CONFIG="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
#!/usr/bin/env bash
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export ecwm_prefix="$prefix"
else
echo "### SIMMODE IS NOT ACTIVE ###"
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
fi
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
#!/usr/bin/env bash
######## TODO
#source ./paths.sh
export prefix="/vol/tiago/melodic-robocup/"
export PATH="${prefix}/bin:$PATH"
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
#Map/World paths
export PATH_TO_MAPS="${prefix}/share/tiago_clf_nav/data"
#PocketSphinx paths
export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
##########
#Robot Setup
export basepc=$(hostname -s)
export laptop=${basepc}
export robot=${basepc}
export ROS_MASTER_URI=http://${basepc}:11311
export ROBOT_VERSION="steel"
export SIMMODE="true"
#Simulation map/world
export NAVIGATION_MAP="${PATH_TO_MAPS}/clf_furnished2-sim.yaml"
export SIMULATION_WORLD="furnished_clf_actor"
#Pocketsphinx_grammars TODO Exercise 5
#export PSA_CONFIG="<path_to_your_psa_config>"
#Rviz config
export RVIZ_CONFIG="${prefix}/share/tobi_sim/config/tiago.rviz"
#object
export PATH_TO_CLASSIFIERS="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${PATH_TO_CLASSIFIERS}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${PATH_TO_CLASSIFIERS}/detection/label_map.pbtxt"
export OBJECT_REC_PATH=""
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
#!/usr/bin/env bash
export prefix=@HYPERION_ENV_ROOT@
export PATH="${prefix}/bin:$PATH"
source default_paths.sh
\ No newline at end of file
#!/usr/bin/env bash
######## TODO
if [[ -z "${SIMMODE}" ]]; then
export SIMMODE="true"
fi
export basepc=$(hostname -s)
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export prefix="/vol/tiago/melodic-robocup/"
export laptop=${basepc}
export robot=${basepc}
export ROBOT_VERSION="steel"
#Simulation map/world
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_map.yaml"
export SIMULATION_WORLD="clf"
export GAZEBO_MODEL_PATH="${prefix}/share/rcsim_gazebo/models:${GAZEBO_MODEL_PATH}"
# Pose where the robot is spawned
export SPAWN_POSE_X="-3.6"
export SPAWN_POSE_Y="-1.8"
export SPAWN_POSE_ANGLE="1.5"
export alsa_device="default"
else
echo "### SIMMODE IS NOT ACTIVE ###"
export prefix="/vol/tiago/kinetic-clf/"
export laptop=${basepc}
export robot=tiago-47c
#Real map
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/central_lab.yaml"
export alsa_device="plug_tiago_mono"
fi
#source ./paths.sh
export PATH="${prefix}/bin:$PATH"
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
#PocketSphinx paths
export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
# Path to bonsai config
export PATH_TO_BONSAI_ROBOCUP_CONFIG="${prefix}/opt/bonsai_robocup_addons/etc/bonsai_configs"
export PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG="${prefix}/opt/bonsai_robocup_exercise/etc/bonsai_configs"
export PATH_TO_BONSAI_TIAGO_CONFIG="${prefix}/opt/bonsai_tiago_addons/etc/bonsai_configs"
# Path to scxml locations
export PATH_TO_BONSAI_ROBOCUP_SCXML="${prefix}/opt/bonsai_robocup_addons/etc/state_machines"
export PATH_TO_BONSAI_CORE_SCXML="${prefix}/opt/bonsai-scxml_engine/etc/behaviors"
export PATH_TO_BONSAI_ROBOCUPTASKS_SCXML="${prefix}/opt/bonsai_robocup_exercise/etc/state_machines"
export PATH_TO_BONSAI_PEPPER_SCXML="${prefix}/opt/bonsai2-pepper-dist/etc/state_machines"
export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_machines"
# Create mapping variable, used by bonsai2 to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
##########
#Laptop setup
export ROS_MASTER_URI=http://${robot}:11311
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_TIAGO_CONFIG}/DefaultTiagoConfig.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_TIAGO_SCXML}/debug/test.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/tasks/carrymyluggage/carrymyluggage.conf"
# Rviz config
export RVIZ_CONFIG="${prefix}/share/tobi_sim/config/tiago.rviz"
# camera topics
#if [[ -z "$RGB_CAM_TOPIC" ]]; then
# export RGB_CAM_TOPIC=/xtion/rgb
#fi
#if [[ -z "$DEPTH_CAM_TOPIC" ]]; then
# export DEPTH_CAM_TOPIC=/xtion/depth_registered
#fi
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
export KINECT_COLOR_XML="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
export KINECT_DEPTH_XML="${SEGMENTATION_CONFIGS}/kinect-depth-vga.xml"
export SEGMENTER_PATH="${SEGMENTATION_CONFIGS}/segmentation_config.xml"
export ROBOT_FILTER="${SEGMENTATION_CONFIGS}/robotfilter.xml"
export OBJECT_MERGER_THRESHOLD=0.5
# Default KBASE locations
export PATH_TO_MONGOD_CONFIG="$prefix/share/robocup_data/mongod/mongod.conf"
export PATH_TO_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/use_challenge_db.yaml"
export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/edit_challenge_db.yaml"
#object
export PATH_TO_CLASSIFIERS="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${PATH_TO_CLASSIFIERS}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${PATH_TO_CLASSIFIERS}/detection/label_map.pbtxt"
export OBJECT_REC_PATH="${PATH_TO_CLASSIFIERS}/recognition"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
export GRASPING_OBJECTS_CONFIG="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
#!/bin/bash
@ENVFILE_melodic-clf@
@ENVFILE_default_paths@
@ENVFILE_cupro@
export SIMMODE="false"
@ENVFILE_tiago@
### Configs
# Map
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_cupro_2.yaml"
#ECWM World
export ECWM_WORLD="clf_cupro.yaml"
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/dynamicDemo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/dynamicDemo.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/demoDynamic.conf"
# Rviz config
export RVIZ_CONFIG="${ecwm_prefix}/share/ecwm_cupro/config/demo3.rviz"
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
export KINECT_COLOR_XML="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
export KINECT_DEPTH_XML="${SEGMENTATION_CONFIGS}/kinect-depth-vga.xml"
export SEGMENTER_PATH="${SEGMENTATION_CONFIGS}/segmentation_config.xml"
export ROBOT_FILTER="${SEGMENTATION_CONFIGS}/robotfilter.xml"
export OBJECT_MERGER_THRESHOLD=0.5
# Default KBASE locations
export PATH_TO_MONGOD_CONFIG="$prefix/share/robocup_data/mongod/mongod.conf"
export PATH_TO_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/use_challenge_db.yaml"
export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/edit_challenge_db.yaml"
#object
export OBJECT_DET_PATH="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${OBJECT_DET_PATH}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${OBJECT_DET_PATH}/detection/label_map.pbtxt"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/ycb_plus"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
export GRASPING_OBJECTS_CONFIG="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
\ No newline at end of file
#!/usr/bin/env bash
######## TODO
if [[ -z "${SIMMODE}" ]]; then
export SIMMODE="true"
fi
export basepc=$(hostname -s)
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export prefix="/vol/tiago/melodic-robocup/"
export ecwm_prefix="$prefix"
export laptop=${basepc}
export robot=${basepc}
export ROBOT_VERSION="steel"
#Simulation map/world
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_map.yaml"
export SIMULATION_WORLD="clf"
export GAZEBO_MODEL_PATH="${prefix}/share/rcsim_gazebo/models:${GAZEBO_MODEL_PATH}"
# Pose where the robot is spawned
export SPAWN_POSE_X="-3.6"
export SPAWN_POSE_Y="-1.8"
export SPAWN_POSE_ANGLE="1.5"
else
echo "### SIMMODE IS NOT ACTIVE ###"
export prefix="/vol/tiago/melodic-clf/"
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
export laptop=neuromancer
export robot=tiago-47c
#Real map
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/central_lab.yaml"
export alsa_device="plug_tiago_mono"
fi
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
#Map/World paths
export PATH_TO_MAPS="${prefix}/share/tiago_clf_nav/data"
#PocketSphinx paths
export PATH_TO_PSA_CONFIG="${prefix}/share/SpeechRec/psConfig"
# Path to bonsai config
export PATH_TO_BONSAI_ROBOCUP_CONFIG="${prefix}/opt/bonsai_robocup_addons/etc/bonsai_configs"
export PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG="${prefix}/opt/bonsai_robocup_exercise/etc/bonsai_configs"
export PATH_TO_BONSAI_TIAGO_CONFIG="${prefix}/opt/bonsai_tiago_addons/etc/bonsai_configs"
# Path to scxml locations
export PATH_TO_BONSAI_ROBOCUP_SCXML="${prefix}/opt/bonsai_robocup_addons/etc/state_machines"
export PATH_TO_BONSAI_CORE_SCXML="${prefix}/opt/bonsai-scxml_engine/etc/behaviors"
export PATH_TO_BONSAI_ROBOCUPTASKS_SCXML="${prefix}/opt/bonsai_robocup_exercise/etc/state_machines"
export PATH_TO_BONSAI_PEPPER_SCXML="${prefix}/opt/bonsai2-pepper-dist/etc/state_machines"
export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_machines"
# Create mapping variable, used by bonsai to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
export PATH="${prefix}/bin:$PATH"
##########
#Laptop setup
export ROS_MASTER_URI=http://${robot}:11311
#Bonsai Task
export PATH_TO_BONSAI_CONFIG="${PATH_TO_BONSAI_TIAGO_CONFIG}/DefaultTiagoConfig.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_TIAGO_SCXML}/debug/test.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/tasks/inspection.conf"
# Rviz config
export RVIZ_CONFIG="${prefix}/share/tobi_sim/config/tiago.rviz"
# camera topics
#if [[ -z "$RGB_CAM_TOPIC" ]]; then
# export RGB_CAM_TOPIC=/xtion/rgb
#fi
#if [[ -z "$DEPTH_CAM_TOPIC" ]]; then
# export DEPTH_CAM_TOPIC=/xtion/depth_registered
#fi
# segmentation
export SEGMENTATION_CONFIGS="${prefix}/share/clf_object_recognition_config/config"
export KINECT_COLOR_XML="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
export KINECT_DEPTH_XML="${SEGMENTATION_CONFIGS}/kinect-depth-vga.xml"
export SEGMENTER_PATH="${SEGMENTATION_CONFIGS}/segmentation_config.xml"
export ROBOT_FILTER="${SEGMENTATION_CONFIGS}/robotfilter.xml"
export OBJECT_MERGER_THRESHOLD=0.5
# Default KBASE locations
export PATH_TO_MONGOD_CONFIG="$prefix/share/robocup_data/mongod/mongod.conf"
export PATH_TO_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/use_challenge_db.yaml"
export PATH_TO_EDIT_KBASE_CONFIG="$prefix/share/robocup_data/knowledgeBase/configs/edit_challenge_db.yaml"
#object
export OBJECT_DET_PATH="${prefix}/share/storing_groceries_node/object"
export OBJECT_DET_GRAPH="${OBJECT_DET_PATH}/detection/frozen_inference_graph.pb"
export OBJECT_DET_LABELS="${OBJECT_DET_PATH}/detection/label_map.pbtxt"
#export OBJECT_REC_PATH="${PATH_TO_CLASSIFIERS}/recognition"
export OBJECT_REC_PATH="${prefix}/share/robocup_data/tensorflow/recognition/ycb_plus"
export OBJECT_REC_GRAPH="${OBJECT_REC_PATH}/output_graph.pb"
export OBJECT_REC_LABELS="${OBJECT_REC_PATH}/output_labels.txt"
export OBJECT_DETECTION_THRESHOLD="0.5"
export GRASPING_OBJECTS_CONFIG="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
#!/bin/bash
# Set Basepc
export basepc=$(hostname -s)
# Path from install volume
export prefix=@HYPERION_ENV_ROOT@
export PATH="${prefix}/bin:$PATH"
# source_ros
@ENVFILE_ros@
# Setup Paths
@ENVFILE_default_paths@
# Setup Robot
if [[ -z "${SIMMODE}" ]]; then
export SIMMODE="true"
fi
if [[ "$SIMMODE" = true ]]; then
echo "### SIMMODE IS ACTIVE ###"
export laptop=${basepc}
export robot=${basepc}
#Simulation map/world
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_map.yaml"
export SIMULATION_WORLD="clf"
export GAZEBO_MODEL_PATH="${prefix}/share/rcsim_gazebo/models:${GAZEBO_MODEL_PATH}"
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
# Pose where the robot is spawned
export SPAWN_POSE_X="-3.6"
export SPAWN_POSE_Y="-1.8"
export SPAWN_POSE_ANGLE="1.5"
else
@ENVFILE_tiago@
# Map
export NAVIGATION_MAP="${prefix}/share/tiago_clf_nav/data/clf_cupro_2.yaml"
fi
###############################################################################
# Default Paths
export basepc=$(hostname -s)
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
#Map/World paths
export PATH_TO_MAPS="${prefix}/share/tiago_clf_nav/data"
......@@ -28,4 +22,5 @@ export PATH_TO_BONSAI_TIAGO_SCXML="${prefix}/opt/bonsai_tiago_addons/etc/state_m
# Create mapping variable, used by bonsai to resolve "src=" attributes in scxml files
export BONSAI_MAPPING="ROBOCUP=${PATH_TO_BONSAI_ROBOCUP_SCXML} SCXML=${PATH_TO_BONSAI_CORE_SCXML} EXERCISE=${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML} PEPPER=${PATH_TO_BONSAI_PEPPER_SCXML} TIAGO=${PATH_TO_BONSAI_TIAGO_SCXML}"
# /Default Paths
###############################################################################
\ No newline at end of file
###############################################################################
# ecwm
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
\ No newline at end of file
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
# /ecwm
###############################################################################
###############################################################################
# melodic-clf
export prefix=/vol/tiago/melodic-clf
export PATH="${prefix}/bin:$PATH"
\ No newline at end of file
export PATH="${prefix}/bin:$PATH"
# ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
# /melodic-clf
###############################################################################
\ No newline at end of file
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
\ No newline at end of file
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