Fawkes-robotino の設定変更
研究室のアカウントを持っている人は，RCLL2018への変更点を参照して下さい．
Index: /fawkes-robotino/cfg/conf.d/amcl.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -8,6 +8,8 @@
# If path starts with slash (/) it's considered to be absolute,
# otherwise relative to the config directory
- map_file: maps/halle.png
+ #map_file: maps/halle.png
# Resolution of the map; meters per pixel
+ # -------- RCLL 2017 --------
+ map_file: maps/rcll-2017-map.png
resolution: 0.05
@@ -17,7 +19,11 @@
# There is a wall of one grid cell thickness around the map, therefore
# set the origin to (-0.05, -0.05)
- origin_x: 0.0
- origin_y: 0.0
- origin_theta: 0.0
+ # origin_x: 0.0
+ # origin_y: 0.0
+ # origin_theta: 0.0
+ origin_x: -9.5 #// setting of version RCLL 2017
+ origin_y: -2.0 #// setting of version RCLL 2017
+ origin_theta: 0
+
# Pixels with occupancy probability greater than this threshold are
@@ -29,10 +35,11 @@
# considered completely free
free_threshold: 0.2
-
+
# Laser Minimum Range, beams shorter than this are ignored
laser_min_range: 0.05
# Laser Maximum Range, beams longer than this are ignored
- laser_max_range: 15.0
+ # laser_max_range: 15.0
+ laser_max_range: 5.0
# Maximum number of beams to consider
@@ -111,6 +118,10 @@
# Initial pose (x, y, yaw)
+ #init_pose_x: 4.5
+ #init_pose_y: -0.5
+ # init_pose_a: 1.57
+ # ----- Initial pose RCLL 2017 -----
init_pose_x: 4.5
- init_pose_y: -0.5
+ init_pose_y: 0.5
init_pose_a: 1.57
@@ -147,6 +158,9 @@
# If path starts with slash (/) it's considered to be absolute,
# otherwise relative to the config directory
- map_file: maps/halle-wall.png
+ # map_file: maps/halle-wall.png
# Resolution of the map; meters per pixel
+ # resolution: 0.05
+ # -------- RCLL 2017 --------
+ map_file: maps/rcll-2017-wall.png
resolution: 0.05
@@ -156,7 +170,10 @@
# There is a wall of one grid cell thickness around the map, therefore
# set the origin to (-0.05, -0.05)
- origin_x: 0.0
- origin_y: 0.0
- origin_theta: 0.0
+ # origin_x: 0.0
+ # origin_y: 0.0
+ # rigin_theta: 0.0
+ origin_x: -9.5 #// setting of version RCLL 2017
+ origin_y: -2.0 #// setting of version RCLL 2017
+ origin_theta: 0
# Pixels with occupancy probability greater than this threshold are
Index: fawkes-robotino/cfg/conf.d/clips-agent.yaml
===================================================================
--- リビジョン 2260
+++ リビジョン 2266
@@ -43,5 +43,6 @@
# Note that this release does not include the production phase code for 2016
# for the rcll2016 domain model and agent specification
- agent: rcll2016/rcll2016
+ # agent: rcll2016/rcll2016
+ agent: rcll2018/btr2018
# To use the 2015 agent, which does include the old production phase code,
# uncomment the following line. The config values are in clips-agent-2015.yaml.
@@ -49,5 +50,5 @@
- rcll2016:
+ rcll2018:
#agent-role defined in host.yaml (this is only the default!)
agent-role: nothing
@@ -130,7 +131,11 @@
row: MID
- row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]
- row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]
- row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]
+ # row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]
+ # row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]
+ # row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]
+ row-high: ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18", "C_Z77"]
+ row-mid: ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]
+ row-low: ["C_Z52" ,"C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18","C_Z77"]
+
#the time in seconds to report all machines even if we are not prepared for production
Index: fawkes-robotino/cfg/conf.d/dynamixel.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -59,5 +59,5 @@
# Either set the desired servo IDs that should be found in the servo chain
# or leave this field empty (servos: []) to discover all available servos
- servos: [1, 2]
+ servos: []
# Autorecover of servos which disable their torque (by setting torque limit to 0)
@@ -66,4 +66,11 @@
# autorecover_flags is used to specify to recover only on certian errors. This can for example be 0x20 (32)
# to recover on overload shutdown. To recover on all errors set autorecover_flags to 127 (7 bits per error)
- autorecover_enabled: false
+ autorecover_enabled: true
autorecover_flags: 127
+
+ # set return_level
+ # 0: SRL_RESPONDE_NONE
+ # 1: SRL_RESPOND_READ
+ # 2: SRL_RESPOND_ALL
+ return_level: 1
+
Index: fawkes-robotino/cfg/conf.d/gazsim.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -135,6 +135,6 @@
llsf-control:
- team-cyan-name: "Carologistics"
- team-magenta-name: "Carologistics-2"
+ team-cyan-name: "BabyTigers"
+ team-magenta-name: "Carologistics"
start-game-automatically: true
time-to-wait-before-set-team: 5.0
Index: fawkes-robotino/cfg/conf.d/laser-filter.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -9,6 +9,6 @@
# URG input interface
- #in/urg: Laser360Interface::Laser urg
- in/sick-tim55x: Laser360Interface::Laser tim55x 360
+ in/urg: Laser360Interface::Laser urg
+ #in/sick-tim55x: Laser360Interface::Laser tim55x 360
# URG filtered output interface
@@ -32,9 +32,9 @@
robot-1080:
- active: true
+ active: false
# URG input interface
#in/urg: Laser360Interface::Laser urg
- in/sick-tim55x: Laser1080Interface::Laser tim55x
+ # in/sick-tim55x: Laser1080Interface::Laser tim55x
# URG filtered output interface
@@ -87,9 +87,9 @@
sick-downsample:
- active: true
+ active: false
# URG input interface
- #in/urg: Laser360Interface::Laser urg
- in/sick-tim55x: Laser1080Interface::Laser tim55x
+ in/urg: Laser360Interface::Laser urg
+ #in/sick-tim55x: Laser1080Interface::Laser tim55x
# URG filtered output interface
Index: fawkes-robotino/cfg/conf.d/laser.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -9,5 +9,5 @@
urg:
# Enable this configuration?
- active: false
+ active: true
# Configuration is for Hokuyo URG laser range finder using URG library
@@ -21,5 +21,5 @@
tim55x:
# Enable this configuration?
- active: true
+ active: false
# Configuration is for Sick TiM55x over USB
Index: fawkes-robotino/cfg/conf.d/navgraph-clusters.yaml =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -12,5 +12,5 @@ # If a cluster centroid is as close or closer than this threshold # to an edge that very edge will be marked as blocke. - close-threshold: 0.5 + close-threshold: 0.9 # Minimum visibility history value a cluster must have before it is
Index: fawkes-robotino/cfg/conf.d/navgraph-generator.yaml =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -67,3 +67,3 @@ # provide an exploration graph for when there are no recognized # machines, yet. - base-graph: navgraph-basis.yaml + base-graph: navgraph-basis-2018.yaml
Index: fawkes-robotino/cfg/conf.d/navgraph.yaml =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -16,5 +16,5 @@ # Graph file to use for path planning - graph_file: navgraph-basis.yaml + graph_file: navgraph-basis-2018.yaml # Interval in which the resend the goto command; sec
Index: fawkes-robotino/cfg/maps/llsf-map.yaml =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -2,5 +3,7 @@ -image: llsf-map-2015.png +#image: llsf-map-2015.png +image: rcll2018-map.png resolution: 0.05 -origin: [-7.0, -1.0, 0.0] +# origin: [-7.0, -1.0, 0.0] +origin: [0, 1.0, 0] occupied_thresh: 0.65 free_thresh: 0.196
Index: fawkes-robotino/cfg/navgraph-basis.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -54,10 +54,10 @@
- !unconnected
name: C-ins-out
- pos: [3.3, -0.55]
+ pos: [4.3, 0.55]
properties:
- always-copy: true
- !unconnected
name: C-ins-in
- pos: [3.3, 0.75]
+ pos: [4.3, 0.75]
properties:
- always-copy: true
@@ -65,10 +65,10 @@
- !unconnected
name: M-ins-out
- pos: [-3.3, -0.55]
+ pos: [-4.3, 0.55]
properties:
- always-copy: true
- !unconnected
name: M-ins-in
- pos: [-3.3, 0.75]
+ pos: [-4.3, 0.75]
properties:
- always-copy: true
Index: fawkes-robotino/etc/scripts/gazsim.bash
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -36,4 +36,14 @@
-v Run Fawkes in valgrind
-t Skip Exploration and add all navgraph points
+ --team-cyan Set cyan team name
+ --team-magenta Set magenta team name
+ --start-game Automatically run game after initialization
+ (if used with -t go into PRODUCTION phase,
+ otherwise the phase will be EXPLORATION,
+ optionally, "--start-game=PHASE" may be given
+ to set the phase explicitly)
+ Typically requires at least --team-cyan.
+ --rviz Start Rviz
+ --mps Load the plugin of gazsim-navgraph-generator
EOF
}
@@ -64,6 +74,11 @@
SKIP_EXPLORATION=
FAWKES_USED=false
-
-OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:" -- "$@")
+START_GAME=
+TEAM_CYAN=
+TEAM_MAGENTA=
+RVIZ=false
+MPS=false
+
+OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:,start-game::,team-cyan:,team-magenta:,rviz,mps" -- "$@")
if [ $? != 0 ]
then
@@ -155,4 +170,21 @@
ROS_LAUNCH_ROBOT="--ros-launch $OPTARG"
;;
+ --team-cyan)
+ TEAM_CYAN="$OPTARG"
+ ;;
+ --team-magenta)
+ TEAM_MAGENTA="$OPTARG"
+ ;;
+ --start-game)
+ if [ -n "$OPTARG" ]; then
+ START_GAME="$OPTARG"
+ else
+ if [ -n "$SKIP_EXPLORATION" ]; then
+ START_GAME="PRODUCTION"
+ else
+ START_GAME="EXPLORATION"
+ fi
+ fi
+ ;;
-f)
FIRST_ROBOTINO_NUMBER=$OPTARG
@@ -163,4 +195,10 @@
-p)
FAWKES_BIN=$OPTARG/bin
+ ;;
+ --rviz)
+ RVIZ=true
+ ;;
+ --mps)
+ MPS=true
;;
--) break;
@@ -201,4 +239,5 @@
killall llsf-refbox
killall llsf-refbox-shell
+ killall rviz
exit 0
fi
@@ -218,5 +257,5 @@
# delete old shm files. Only do this for the simulation, not on live bot.
- rm /dev/shm/*fawkes*
+ rm /dev/shm/*fawkes* 2>&1 >/dev/null
#construct command to open everything in one terminal window with multiple tabs instead of 10.000 windows
@@ -274,4 +313,15 @@
fi
+ if $RVIZ
+ then
+# OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"$startup_script_location -x rviz $KEEP\"'"
+ OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"export TAB_START_TIME=$(date +%s); $script_path/wait-at-first-start.bash 7; $startup_script_location -x rviz $KEEP\"'"
+ fi
+
+ if $MPS
+ then
+ OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \"echo please enter to load the gazsim-navgraph-generator plugin; read a; wget http://localhost:8081/plugins/load/gazsim-navgraph-generator -q; rm gazsim-navgraph-generator*\"'"
+ fi
+
# open windows
#echo $OPEN_COMMAND
@@ -289,4 +339,12 @@
fi
+ if [ -n "$START_GAME" ]; then
+ if [ ! -x $LLSF_REFBOX_DIR/bin/rcll-refbox-instruct ]; then
+ echo "rcll-refbox-instruct not found, not built or old version?"
+ else
+ echo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"
+ $LLSF_REFBOX_DIR/bin/rcll-refbox-instruct -p $START_GAME -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}
+ fi
+ fi
else
Index: fawkes-robotino/fawkes/cfg/conf.d/dynamixel.yaml
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -10,5 +10,5 @@
example:
active: true
- device: /dev/ttyUSB0
+ device: /dev/usb2ax
read_timeout_ms: 30
@@ -69,2 +69,7 @@
autorecover_flags: 127
+ # set return_level
+ # 0: SRL_RESPONDE_NONE
+ # 1: SRL_RESPOND_READ
+ # 2: SRL_RESPOND_ALL
+ return_level: 1
Index: fawkes-robotino/fawkes/src/libs/protobuf_clips/communicator.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -329,6 +329,6 @@
} catch (std::runtime_error &e) {
if (logger_) {
- logger_->log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",
- full_name.c_str(), e.what());
+ // logger_->log_warn("CLIPS-Protobuf", "Cannot create message of type %s: %s",
+ // full_name.c_str(), e.what());
}
return CLIPS::Value(new std::shared_ptr<google::protobuf::Message>());
Index: fawkes-robotino/fawkes/src/plugins/clips-ros/Makefile
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -38,4 +38,8 @@
LDFLAGS += $(LDFLAGS_ROS) $(LDFLAGS_CLIPS) $(call ros-pkg-lflags,xmlrpcpp) \
$(call boost-libs-ldflags,$(REQ_BOOST_LIBS))
+
+ ifeq ($(call ros-pkg-version-atleast,xmlrpcpp,1.12.7),1)
+ CFLAGS += -DHAVE_NEW_ROS_XMLRPCPP_PATH
+ endif
PLUGINS_all = $(PLUGINDIR)/clips-ros.$(SOEXT)
Index: fawkes-robotino/fawkes/src/plugins/clips-ros/clips_ros_thread.cpp =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -27,5 +27,9 @@ #include <ros/network.h> #include <ros/xmlrpc_manager.h> -#include <XmlRpc.h> +#ifdef HAVE_NEW_ROS_XMLRPCPP_PATH +# include <xmlrpcpp/XmlRpc.h> +#else +# include <XmlRpc.h> +#endif #include <tuple>
Index: fawkes-robotino/fawkes/src/plugins/dynamixel/driver_thread.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -86,4 +86,5 @@
cfg_max_voltage_ = config->get_float((cfg_prefix_ + "max_voltage").c_str());
cfg_servos_to_discover_ = config->get_uints((cfg_prefix_ + "servos").c_str());
+ cfg_return_level_ = config->get_uint((cfg_prefix_ + "return_level").c_str());
chain_ = new DynamixelChain(cfg_device_.c_str(), cfg_read_timeout_ms_, cfg_enable_echo_fix_, cfg_enable_connection_stability_, cfg_min_voltage_, cfg_max_voltage_);
@@ -145,6 +146,14 @@
}
+ unsigned char cfg_return_levels_[] = {DynamixelChain::SRL_RESPOND_NONE,
+ DynamixelChain::SRL_RESPOND_READ,
+ DynamixelChain::SRL_RESPOND_ALL};
+
+ /*
// We only want responses to be sent on explicit READ to speed up communication
chain_->set_status_return_level(DynamixelChain::BROADCAST_ID, DynamixelChain::SRL_RESPOND_READ);
+ */
+ chain_->set_status_return_level(DynamixelChain::BROADCAST_ID, cfg_return_levels_[cfg_return_level_]);
+
// set compliance values
chain_->set_compliance_values(DynamixelChain::BROADCAST_ID,
@@ -862,6 +871,6 @@
if ( (pos < 0) || ((unsigned int)pos < pos_min) || ((unsigned int)pos > pos_max) ) {
- logger->log_warn(name(), "Position out of bounds, min: %u max: %u des: %i",
- pos_min, pos_max, pos);
+ logger->log_warn(name(), "Position out of bounds (id %d), min: %u max: %u des: %i",
+ servo_id, pos_min, pos_max, pos);
return;
}
Index: fawkes-robotino/fawkes/src/plugins/robotino/openrobotino_com_thread.cpp
===================================================================
--- リビジョン 2253
+++ リビジョン 2266
@@ -277,5 +277,5 @@
#ifdef HAVE_OPENROBOTINO_API_2
com_->processComEvents();
-
+ update_velocities();
double odo_x = 0, odo_y = 0, odo_phi = 0;
unsigned int odo_seq = 0;
Index: fawkes-robotino/src/libs/llsf_msgs/Makefile =================================================================== --- リビジョン 2253 +++ リビジョン 2266 @@ -22,4 +22,6 @@ MSGS_llsf_msgs = $(notdir $(patsubst %.proto,%,$(wildcard $(SRCDIR)/*.proto))) +MachineReport.pb.cpp: | Team.pb.cpp + include $(BUILDSYSDIR)/protobuf.mk include $(BUILDSYSDIR)/base.mk
Index: fawkes-robotino/src/plugins/agent-monitor/agent-monitor-processor.cpp
===================================================================
--- リビジョン 2260
+++ リビジョン 2266
@@ -64,5 +64,6 @@
env_name_ = config_->get_string("/agent-monitor/clips-environment");
// own_name_ = config_->get_string("/clips-agent/llsf2014/robot-name");
- own_name_ = config_->get_string("/clips-agent/rcll2016/robot-name");
+ // own_name_ = config_->get_string("/clips-agent/rcll2016/robot-name");
+ own_name_ = config_->get_string("/clips-agent/rcll2018/robot-name");
refresh_interval_ = std::to_string(config_->get_int("/agent-monitor/refresh-interval"));
Index: fawkes-robotino/src/plugins/gazebo/gazsim-llsfrbcomm/gazsim_llsfrbcomm_thread.cpp
===================================================================
--- リビジョン 2264
+++ リビジョン 2266
@@ -207,5 +207,5 @@
/*
-void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)
+ void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)
{
//logger->log_info(name(), "Sending PPUM to refbox");
@@ -220,5 +220,5 @@
/*
-void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)
+ void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)
{
//logger->log_info(name(), "Sending RPFM to refbox");
Index: fawkes-robotino/src/plugins/gazebo/gazsim-llsfrbcomm/gazsim_llsfrbcomm_thread.h =================================================================== --- リビジョン 2264 +++ リビジョン 2266 @@ -52,5 +52,5 @@ typedef const boost::shared_ptr<llsf_msgs::MachineInfo const> ConstMachineInfoPtr; -//typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr; +// typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr; // typedef const boost::shared_ptr<llsf_msgs::RemovePuckFromMachine const> ConstRemovePuckFromMachinePtr; typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr; @@ -108,6 +108,6 @@ //handler methods -// void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg); -// void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg); + // void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg); + // void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg); void on_time_sync_msg(ConstSimTimePtr &msg); void on_set_game_state_msg(ConstSetGameStatePtr &msg);
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