Commit b920d388 authored by Tiago 47c's avatar Tiago 47c
Browse files

use cmake to concat hyperion envs, check env/cupro_env.sh.in and env_files/*

parent 8d91bc6a
......@@ -21,6 +21,7 @@ include_directories(${catkin_INCLUDE_DIRS})
## Install rules
##############################
FILE(GLOB path_files "systems/env/*.in")
FILE(GLOB env_files "systems/env_files/*.sh")
FILE(GLOB demo_files "systems/demo/*.yaml")
IF(DEFINED ENV{prefix})
......@@ -40,6 +41,11 @@ install(DIRECTORY systems
PATTERN "**/*.in" EXCLUDE
)
FOREACH(file ${env_files})
GET_FILENAME_COMPONENT(envname ${file} NAME_WE)
file(READ ${file} ENVFILE_${envname})
ENDFOREACH()
FOREACH(file ${path_files})
GET_FILENAME_COMPONENT(envname ${file} NAME_WE)
CONFIGURE_FILE(${file} "env/${envname}.sh" @ONLY)
......
#!/bin/bash
@ENVFILE_melodic-clf@
@ENVFILE_default_paths@
@ENVFILE_cupro@
export SIMMODE="false"
@ENVFILE_tiago@
### Configs
# Map
export NAVIGATION_MAP="${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="${PATH_TO_BONSAI_ROBOCUPTASKS_CONFIG}/demos/cupro_demo.xml"
export PATH_TO_BONSAI_TASK="${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="${prefix}/share/storing_groceries_node/config/challenge2020.yaml"
# Other
export ACTOR_VEL_TOPIC="/Olf/cmd_vel"
\ No newline at end of file
......@@ -82,14 +82,6 @@ export PSA_CONFIG="${PATH_TO_PSA_CONFIG}/demos/cupro.conf"
# Rviz config
export RVIZ_CONFIG="${ecwm_prefix}/share/ecwm_cupro/config/demo3.rviz"
# camera topics
#if [[ -z "$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="${SEGMENTATION_CONFIGS}/kinect-color-vga.xml"
......
#!/usr/bin/env bash
#ROS source alias
export setup_suffix=$(echo $SHELL | cut -d "/" -f3-)
alias source_ros="source ${prefix}/setup.${setup_suffix}"
......
export ecwm_prefix="/vol/tiago/melodic-clf-cupro"
alias source_ecwm="source ${ecwm_prefix}/setup.${setup_suffix}"
\ No newline at end of file
export prefix=/vol/tiago/melodic-clf
export PATH="${prefix}/bin:$PATH"
\ No newline at end of file
export laptop=neuromancer
export robot=tiago-47c
export ROS_MASTER_URI=http://${robot}:11311
\ No newline at end of file
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