prepare WUT P109 scenario

[rayvburn]

ROS1 package with the world files is available here: https://github.com/rayvburn/gazebo_world_p109/tree/ros1

Preliminary version was tested.

Launch:

<?xml version="1.0" encoding="UTF-8"?>
<launch>
    <!-- === ARGUMENTS ========================================================================== -->
    <!-- (full|short|hard) -->
    <arg name="scenario" default="hard"/>

    <arg name="people_sim" default="false"/>
    <arg name="people_lite" default="false"/>
    <arg name="people_sim_viz" default="false"/>

    <!-- (titanium|steel|iron) -->
    <arg name="robot_type" default="iron"/>

    <arg name="perception" default="false"/>
    <arg name="perception_viz" default="false"/>

    <arg name="navigation_launch" default="false"/>
    <arg name="navigation_benchmark" default="false"/>

    <arg name="local_planner" default="hubero"/>
    <arg name="nav_state" default="localization"/>

    <arg name="publish_goal" default="falses"/>
    <arg name="goal_file" value="$(find tiago_social_experiments)/config/012_goal.yaml"/>

    <arg name="shared_map" default="true"/>
    <arg name="tf_world_map" value="-1.88 -3.55 +0.00 +0.00 +0.00 -0.1622"/>
    <arg name="map_file" value="$(find tiago_sim_integration)/maps/012_sim_localization/map.yaml"/>
    <arg name="map_frame" default="map"/>
    <arg name="map_bounds" value="[-2.49, 5.86, -2.74, 10.30]"/>

    <!-- resources for `P109` lab world -->
    <env name="GAZEBO_MODEL_PATH" value="$(find gazebo_world_p109)/models:$(optenv GAZEBO_MODEL_PATH)"/>

    <!-- === NODES ============================================================================== -->
    <include file="$(find tiago_social_experiments)/launch/scenario_base.launch">
        <arg name="people_sim" value="$(arg people_sim)"/>
        <arg name="people_sim_viz" value="$(arg people_sim_viz)"/>

        <arg name="robot_type" value="$(arg robot_type)"/>
        <arg name="perception" value="$(arg perception)"/>
        <arg name="perception_viz" value="$(arg perception_viz)"/>
        <arg name="navigation_launch" value="$(arg navigation_launch)"/>
        <arg name="navigation_benchmark" value="$(arg navigation_benchmark)"/>
        <arg name="local_planner" value="$(arg local_planner)"/>
        <arg name="nav_state" value="$(arg nav_state)"/>
        <arg name="publish_goal" value="$(arg publish_goal)"/>

        <arg name="world_file_wo_people" value="$(find gazebo_world_p109)/worlds/p109.world"/>
        <arg name="world_file_people" unless="$(arg people_lite)" value="$(find gazebo_world_p109)/worlds/p109.world"/>
        <arg name="world_file_people" if="$(arg people_lite)" value="$(find gazebo_world_p109)/worlds/p109.world"/>

        <arg name="pose_sim" if="$(eval scenario == 'full')" value="-x 1.7 -y 5.6 -z -0.003 -R 0.0 -P 0.0 -Y -1.5708"/>
        <arg name="pose_sim" if="$(eval scenario == 'short')" value="-x 1.729204 -y -0.868255 -z -0.003 -R 0.0 -P 0.0 -Y -2.081408"/>
        <arg name="pose_sim" if="$(eval scenario == 'hard')" value="-x 0.2 -y -1.63 -z -0.003 -R 0.0 -P 0.0 -Y -1.5708"/>

        <!-- <arg name="localization_config" if="$(eval scenario == 'full')" value="$(find tiago_social_experiments)/config/012_pose_full.yaml"/>
        <arg name="localization_config" if="$(eval scenario == 'hard')" value="$(find tiago_social_experiments)/config/012_pose_hard.yaml"/>
        <arg name="localization_config" if="$(eval scenario == 'short')" value="$(find tiago_social_experiments)/config/012_pose_short.yaml"/> -->

        <!-- <arg name="shared_map" value="$(arg shared_map)"/>
        <arg name="tf_world_map" value="$(arg tf_world_map)"/>

        <arg name="map_file" value="$(arg map_file)"/>
        <arg name="map_frame" value="$(arg map_frame)"/>
        <arg name="map_bounds" value="$(arg map_bounds)"/> -->

        <!-- <arg name="goal_file" value="$(arg goal_file)"/> -->
    </include>

    <!--
        Launch HuBeRo actors ROS interfaces only in 'full' version of simulation is selected.
        Note that it will significantly affect simulation performance. Instead, `lite` mode is targeted
        for faster prototyping
    -->
    <group if="$(arg people_sim)">
        <group unless="$(arg people_lite)">
            <include file="$(find hubero_ros)/launch/actor.launch">
                <arg name="actor_name" value="actor1"/>
                <arg name="map_file" value="$(arg map_file)"/>
                <arg name="use_shared_map" value="$(arg shared_map)"/>
                <arg name="map_frame" value="$(arg map_frame)"/>
                <arg name="tf_world_map" value="$(arg tf_world_map)"/>
                <arg name="map_bounds" value="$(arg map_bounds)"/>
            </include>
            <include file="$(find hubero_ros)/launch/actor.launch">
                <arg name="actor_name" value="actor2"/>
                <arg name="map_file" value="$(arg map_file)"/>
                <arg name="use_shared_map" value="$(arg shared_map)"/>
                <arg name="map_frame" value="$(arg map_frame)"/>
                <arg name="tf_world_map" value="$(arg tf_world_map)"/>
                <arg name="map_bounds" value="$(arg map_bounds)"/>
            </include>
        </group>
    </group>
</launch>

Rosinstall:

git: {local-name: gazebo_world_p109, uri: 'https://github.com/rayvburn/gazebo_world_p109.git', version: 'ros1'}