Merge branch 'master' into any_geom_buoyant

osrf · Aug 3, 2022 · 12845d2 · 12845d2
2 parents 43b83ea + 5592bcb
commit 12845d2
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Showing 3 changed files with 1 addition and 25 deletions.
diff --git a/vrx_gazebo/include/vrx_gazebo/perception_scoring_plugin.hh b/vrx_gazebo/include/vrx_gazebo/perception_scoring_plugin.hh
@@ -103,10 +103,6 @@ class PerceptionObject
 ///                      <name> Landmark name.
 ///                      <pose> Initial object pose.
 ///
-/// <loop_forever>: Optional parameter. If true, all objects will be spawned
-/// as a circular buffer. After spawning the last element of the collection,
-/// the first one will be inserted.
-///
 /// <frame>: Optional parameter. If present, the poses of the objects will be
 /// in the frame of this link/model. Otherwise the world frame is used.
 ///
@@ -130,7 +126,6 @@ class PerceptionObject
 ///   <running_state_duration>300</running_state_duration>
 ///
 ///   <!-- Parameters for PopulationPlugin -->
-///   <loop_forever>false</loop_forever>
 ///   <frame>wamv</frame>
 ///   <object_sequence>
 ///     <object>
@@ -203,10 +198,6 @@ class PerceptionScoringPlugin : public ScoringPlugin
   /// \brief The time specified in the object is relative to this time.
   public: gazebo::common::Time startTime;
 
-  /// \brief When true, "objects" will be repopulated when the object queue
-  /// is empty, creating an infinite supply of objects.
-  public: bool loopForever = false;
-
   /// \brief Link/model name for the object poses use as their frame of
   /// reference
   public: std::string frameName = std::string();

diff --git a/vrx_gazebo/src/perception_scoring_plugin.cc b/vrx_gazebo/src/perception_scoring_plugin.cc
@@ -167,11 +167,6 @@ void PerceptionScoringPlugin::Load(gazebo::physics::WorldPtr _world,
   this->world = _world;
   this->sdf = _sdf;
 
-  if (_sdf->HasElement("loop_forever"))
-  {
-    sdf::ElementPtr loopElem = _sdf->GetElement("loop_forever");
-    this->loopForever = loopElem->Get<bool>();
-  }
 
   if (_sdf->HasElement("frame"))
   {
@@ -364,16 +359,7 @@ void PerceptionScoringPlugin::OnUpdate()
     this->SetScore(this->Score() / this->objects.size());
     ROS_INFO_NAMED("Perception run score: ", "%f", this->Score());
 
-    // if loop, restart
-    if (this->loopForever)
-    {
-      this->objectsDespawned = 0;
-      this->Restart();
-    }
-    else
-    {
-      this->Finish();
-    }
+    this->Finish();
   }
 }
 

diff --git a/vrx_gazebo/worlds/perception_task.world.xacro b/vrx_gazebo/worlds/perception_task.world.xacro
@@ -36,7 +36,6 @@
       <ready_state_duration>10.0</ready_state_duration>
       <running_state_duration>300</running_state_duration>
       <!-- Parameters for PopulationPlugin -->
-      <loop_forever>true</loop_forever>
       <frame>wamv</frame>
       <!-- Pose of each object is expressed relative to the body frame
            of the object named in the frame field - i.e., relative to