Commit 632df3d0 authored by Tiago 47c's avatar Tiago 47c
Browse files

update tiago_dynamic_demo

- inludes too many components currently
parent 13e4a469
name: Core
components:
- !include ../../roscore_fake.yaml
- !include ../../play_motion_fake.yaml
- !include ../../realsense.yaml
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......@@ -2,11 +2,7 @@ name: TiagoCuproDemo
env: ../env/cupro_env.sh
groups:
- name: Core
components:
- !include ../../components/roscore_fake.yaml
- !include ../../components/play_motion_fake.yaml
- !include ../../components/realsense.yaml
- !include ../../components/groups/tiago/core.yaml
- !include ../../components/groups/bonsai_group.yaml
- !include ../../components/groups/nav_group.yaml
- name: Visualization
......
......@@ -2,13 +2,24 @@ name: TiagoDynamicDemo
env: ../env/tiago_env.sh
groups:
- !include ../../components/groups/default_group.yaml
- !include ../../components/groups/sim_group.yaml
- !include ../../components/groups/tiago/core.yaml
- !include ../../components/groups/bonsai_group.yaml
- !include ../../components/groups/nav_group.yaml
- !include ../../components/groups/viz_group.yaml
- !include ../../components/groups/perception_group.yaml
- name: Visualization
components:
- !include ../../components/cupro_rviz.yaml
- !include ../../components/rviz.yaml
- !include ../../components/groups/speech_group.yaml
- name: Manipulation
components:
- !include ../../components/moveit.yaml
- !include ../../components/hand_over.yaml
- !include ../../components/moveit-robot.yaml
- !include ../../components/groups/tensorflow_group.yaml
- name: ECWM
components:
- !include ../../components/ecwm.yaml
- !include ../../components/groups/perception_group.yaml
- name: Arm
components:
- !include ../../components/mtc_server.yaml
......
#!/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/ersti_demo.xml"
export PATH_TO_BONSAI_TASK="${PATH_TO_BONSAI_ROBOCUPTASKS_SCXML}/demos/ersti_demo.xml"
#pocketsphinx_grammars
export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/ersti_demo.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"
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