From 1b7d99264d08c4bf014d777733a716c96d61c487 Mon Sep 17 00:00:00 2001 From: Jarek Karwowski Date: Tue, 26 Sep 2023 00:44:39 +0200 Subject: [PATCH] `experiments` - more explicit world selection for scenarios, using "clean" sim worlds (HuBeRo actors now spawned with a service), updated HuBeRo repo version - see this pull for spawning details https://github.com/rayvburn/hubero/pull/60 --- tiago_experiments-melodic.rosinstall | 2 +- .../launch/012.launch | 53 +++++++++++++++---- .../launch/aws_hospital.launch | 21 +++++--- 3 files changed, 57 insertions(+), 19 deletions(-) diff --git a/tiago_experiments-melodic.rosinstall b/tiago_experiments-melodic.rosinstall index 2d0cfd2..94f340c 100644 --- a/tiago_experiments-melodic.rosinstall +++ b/tiago_experiments-melodic.rosinstall @@ -1,5 +1,5 @@ # HuBeRo provides dynamic human actors -- git: {local-name: hubero, uri: 'https://github.com/rayvburn/hubero.git', version: 'task-request-ros-api-get-name-method'} +- git: {local-name: hubero, uri: 'https://github.com/rayvburn/hubero.git', version: 'launch-for-spawning-actors-in-gazebo'} # worlds used in experiments - git: {local-name: tiago_sim_integration, uri: 'https://github.com/rayvburn/tiago_sim_integration.git', version: '012-hubero-integration'} diff --git a/tiago_social_experiments_sim/launch/012.launch b/tiago_social_experiments_sim/launch/012.launch index 9bff46f..1ced77c 100644 --- a/tiago_social_experiments_sim/launch/012.launch +++ b/tiago_social_experiments_sim/launch/012.launch @@ -64,8 +64,11 @@ - - + + + + + @@ -85,6 +88,7 @@ + @@ -106,26 +110,55 @@ - - + + - + + + - + - + - + + + - + + + + + + + + + + + + + + + + + + + + + + + + + + - + diff --git a/tiago_social_experiments_sim/launch/aws_hospital.launch b/tiago_social_experiments_sim/launch/aws_hospital.launch index bcd7664..5a7b75a 100644 --- a/tiago_social_experiments_sim/launch/aws_hospital.launch +++ b/tiago_social_experiments_sim/launch/aws_hospital.launch @@ -68,7 +68,7 @@ - + @@ -85,6 +85,7 @@ + @@ -97,25 +98,29 @@ for faster prototyping --> - + - + + + - + - + - + + + - + - +