Skip to content

Commit c332910

Browse files
author
Cesar Lopez
committed
Avoid duplicate launch and test file content
1 parent bb38ae9 commit c332910

File tree

2 files changed

+21
-80
lines changed

2 files changed

+21
-80
lines changed

‎test/full_coverage_path_planner/test_full_coverage_path_planner.launch

Lines changed: 8 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -2,10 +2,14 @@
22

33
<launch>
44
<arg name="map" default="$(find full_coverage_path_planner)/maps/grid.yaml"/>
5+
<arg name="coverage_area_offset" default="-2.5 -2.5 0 0 0 0"/>
6+
<arg name="coverage_area_size_x" default="10"/>
7+
<arg name="coverage_area_size_y" default="10"/>
58
<arg name="target_x_vel" default="0.5"/>
69
<arg name="target_yaw_vel" default="0.4"/>
710
<arg name="robot_radius" default="0.3"/>
811
<arg name="tool_radius" default="0.3"/>
12+
<arg name="rviz" default="true"/>
913

1014
<!--Move base flex, using the full_coverage_path_planner-->
1115
<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
@@ -61,10 +65,10 @@
6165
</node>
6266

6367
<!-- Launch coverage progress tracking -->
64-
<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="-2.5 -2.5 0 0.0 0 0 map coverage_map 100" />
68+
<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="$(arg coverage_area_offset) map coverage_map 100" />
6569
<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
66-
<param name="~target_area/x" value="10" />
67-
<param name="~target_area/y" value="10" />
70+
<param name="~target_area/x" value="$(arg coverage_area_size_x)" />
71+
<param name="~target_area/y" value="$(arg coverage_area_size_y)" />
6872
<param name="~coverage_radius" value="$(arg tool_radius)" />
6973
<remap from="reset" to="coverage_progress/reset" />
7074
<param name="~map_frame" value="/coverage_map"/>
@@ -75,5 +79,5 @@
7579
args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
7680

7781
<!-- rviz -->
78-
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
82+
<node if="$(eval rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
7983
</launch>

‎test/full_coverage_path_planner/test_full_coverage_path_planner.test

Lines changed: 13 additions & 76 deletions
Original file line numberDiff line numberDiff line change
@@ -1,83 +1,20 @@
11
<?xml version="1.0"?>
22

33
<launch>
4-
<arg name="map" default="$(find full_coverage_path_planner)/maps/basement.yaml"/>
5-
<arg name="target_x_vel" default="0.5"/>
6-
<arg name="target_yaw_vel" default="0.4"/>
7-
<arg name="robot_radius" default="0.5"/>
8-
<arg name="tool_radius" default="0.5"/>
9-
<arg name="launch_rviz" default="false"/>
10-
11-
<!--Move base flex, using the full_coverage_path_planner-->
12-
<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
13-
<param name="tf_timeout" value="1.5"/>
14-
<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
15-
<rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
16-
17-
<param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
18-
<param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
19-
<param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
20-
<remap from="odom" to="/odom"/>
21-
<remap from="scan" to="/scan"/>
22-
23-
<remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
24-
<remap from="/move_base_flex/tracking_pid/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/>
25-
</node>
26-
<!-- Move Base backwards compatibility -->
27-
<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base"/>
28-
29-
<!-- Mobile robot simulator -->
30-
<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
31-
<param name="publish_map_transform" value="true"/>
32-
<param name="publish_rate" value="10.0"/>
33-
<param name="velocity_topic" value="/move_base/cmd_vel"/>
34-
<param name="odometry_topic" value="/odom"/>
35-
</node>
36-
37-
<!--We need a map to fully cover-->
38-
<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
39-
<param name="frame_id" value="/map"/>
40-
</node>
41-
42-
<!--Tracking_pid cannot just accept a nav_msgs/Path, it can only go to a PoseStamped,
43-
so the path_interpolator drags a PoseStamped over a Path at a given speed-->
44-
<node name="interpolator" pkg="tracking_pid" type="path_interpolator">
45-
<param name="target_x_vel" value="$(arg target_x_vel)"/>
46-
<param name="target_yaw_vel" value="$(arg target_yaw_vel)"/>
47-
<remap from="path" to="/move_base/SpiralSTC/plan"/>
48-
</node>
49-
50-
<!--Tracking_pid tries to get the robot as close to it's goal point as possible-->
51-
<node name="controller" pkg="tracking_pid" type="controller" output="screen">
52-
<remap from="move_base/cmd_vel" to="/move_base/cmd_vel"/>
53-
<remap from="local_trajectory" to="trajectory"/>
54-
<param name="controller_debug_enabled" value="True"/>
55-
<param name="track_base_link" value="true"/>
56-
<param name="l" value="0.5"/>
57-
<param name="Ki_long" value="0.0"/>
58-
<param name="Kp_long" value="2.0"/>
59-
<param name="Kd_long" value="0.5"/>
60-
<param name="Ki_lat" value="0.0"/>
61-
<param name="Kp_lat" value="4.0"/>
62-
<param name="Kd_lat" value="0.3"/>
63-
</node>
64-
65-
<!-- Launch coverage progress tracking -->
66-
<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="3 -0.25 0 1.57 0 0 map coverage_map 100" />
67-
<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
68-
<param name="~target_area/x" value="3.0" />
69-
<param name="~target_area/y" value="5" />
70-
<param name="~coverage_radius" value="$(arg tool_radius)" />
71-
<remap from="reset" to="coverage_progress/reset" />
72-
<param name="~map_frame" value="/coverage_map"/>
73-
</node>
74-
75-
<!-- Trigger planner by publishing a move_base goal -->
76-
<node name="publish_simple_goal" pkg="rostopic" type="rostopic" launch-prefix="bash -c 'sleep 1.0; $0 $@' "
77-
args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>
4+
<arg name="rviz" default="false"/>
5+
6+
<include file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/test_full_coverage_path_planner.launch" >
7+
<arg name="map" value="$(find full_coverage_path_planner)/maps/basement.yaml"/>
8+
<arg name="coverage_area_offset" value="3 -0.25 0 1.57 0 0"/>
9+
<arg name="coverage_area_size_x" value="3.0"/>
10+
<arg name="coverage_area_size_y" value="5.0"/>
11+
<arg name="target_x_vel" value="0.5"/>
12+
<arg name="target_yaw_vel" value="0.4"/>
13+
<arg name="robot_radius" value="0.5"/>
14+
<arg name="tool_radius" value="0.5"/>
15+
<arg name="rviz" value="$(eval rviz)"/>
16+
</include>
7817

7918
<test test-name="rostest_full_coverage_path_planner_node" pkg="full_coverage_path_planner" type="test_full_coverage_path_planner_system.py" time-limit="300.0" />
8019

81-
<!-- rviz -->
82-
<node if="$(eval launch_rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />
8320
</launch>

0 commit comments

Comments
 (0)