Move .pgm map files inside maps folder

srl-freiburg · Apr 20, 2023 · 709465b · 709465b
1 parent 0167ad0
commit 709465b
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Showing 21 changed files with 7 additions and 3 deletions.
diff --git a/pedsim_simulator/CMakeLists.txt b/pedsim_simulator/CMakeLists.txt
@@ -130,15 +130,19 @@ ament_target_dependencies(${EXECUTABLE_NAME} ${PEDSIM_SIMULATOR_DEPENDENCIES})
 add_executable(pedsim_xml_to_occ_map src/pedsim_xml_to_occ_map.cpp)
 ament_target_dependencies(pedsim_xml_to_occ_map ${PEDSIM_SIMULATOR_DEPENDENCIES})
 
+add_executable(agent_pose_publisher src/agent_pose_publisher.cpp)
+ament_target_dependencies(agent_pose_publisher ${PEDSIM_SIMULATOR_DEPENDENCIES})
+
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY scenarios DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
 
 install(TARGETS
   ${EXECUTABLE_NAME}
-  pedsim_xml_to_occ_map
+  pedsim_xml_to_occ_map agent_pose_publisher
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}

diff --git a/pedsim_simulator/config/params.yaml b/pedsim_simulator/config/params.yaml
@@ -4,7 +4,7 @@ pedsim_simulator:
     max_robot_speed:      1.5
     update_rate:          25.0
     simulation_factor:    1.0
-    op_mode:              1
+    op_mode:              2
     queue_size:           10
     robot_radius:         0.35
     agent_radius:         0.35

diff --git a/pedsim_simulator/maps/airport.pgm → pedsim_simulator/maps/maps/airport.pgm b/pedsim_simulator/maps/airport.pgm → pedsim_simulator/maps/maps/airport.pgm
diff --git a/pedsim_simulator/maps/airport2.pgm → pedsim_simulator/maps/maps/airport2.pgm b/pedsim_simulator/maps/airport2.pgm → pedsim_simulator/maps/maps/airport2.pgm
diff --git a/pedsim_simulator/maps/airport_activities.pgm → ...imulator/maps/maps/airport_activities.pgm b/pedsim_simulator/maps/airport_activities.pgm → ...imulator/maps/maps/airport_activities.pgm
diff --git a/...im_simulator/maps/airport_activities2.pgm → ...mulator/maps/maps/airport_activities2.pgm b/...im_simulator/maps/airport_activities2.pgm → ...mulator/maps/maps/airport_activities2.pgm
diff --git a/pedsim_simulator/maps/blank_world.pgm → pedsim_simulator/maps/maps/blank_world.pgm b/pedsim_simulator/maps/blank_world.pgm → pedsim_simulator/maps/maps/blank_world.pgm
diff --git a/pedsim_simulator/maps/corridor.pgm → pedsim_simulator/maps/maps/corridor.pgm b/pedsim_simulator/maps/corridor.pgm → pedsim_simulator/maps/maps/corridor.pgm
diff --git a/pedsim_simulator/maps/office-cubicles.pgm → ...m_simulator/maps/maps/office-cubicles.pgm b/pedsim_simulator/maps/office-cubicles.pgm → ...m_simulator/maps/maps/office-cubicles.pgm
diff --git a/pedsim_simulator/maps/office.pgm → pedsim_simulator/maps/maps/office.pgm b/pedsim_simulator/maps/office.pgm → pedsim_simulator/maps/maps/office.pgm
diff --git a/pedsim_simulator/maps/scene1.pgm → pedsim_simulator/maps/maps/scene1.pgm b/pedsim_simulator/maps/scene1.pgm → pedsim_simulator/maps/maps/scene1.pgm
diff --git a/pedsim_simulator/maps/scene2.pgm → pedsim_simulator/maps/maps/scene2.pgm b/pedsim_simulator/maps/scene2.pgm → pedsim_simulator/maps/maps/scene2.pgm
diff --git a/pedsim_simulator/maps/scene3.pgm → pedsim_simulator/maps/maps/scene3.pgm b/pedsim_simulator/maps/scene3.pgm → pedsim_simulator/maps/maps/scene3.pgm
diff --git a/pedsim_simulator/maps/scene4.pgm → pedsim_simulator/maps/maps/scene4.pgm b/pedsim_simulator/maps/scene4.pgm → pedsim_simulator/maps/maps/scene4.pgm
diff --git a/pedsim_simulator/maps/singleagent.pgm → pedsim_simulator/maps/maps/singleagent.pgm b/pedsim_simulator/maps/singleagent.pgm → pedsim_simulator/maps/maps/singleagent.pgm
diff --git a/pedsim_simulator/maps/small_airport.pgm → pedsim_simulator/maps/maps/small_airport.pgm b/pedsim_simulator/maps/small_airport.pgm → pedsim_simulator/maps/maps/small_airport.pgm
diff --git a/pedsim_simulator/maps/social_contexts.pgm → ...m_simulator/maps/maps/social_contexts.pgm b/pedsim_simulator/maps/social_contexts.pgm → ...m_simulator/maps/maps/social_contexts.pgm
diff --git a/...m_simulator/maps/tb3_house_demo_crowd.pgm → ...ulator/maps/maps/tb3_house_demo_crowd.pgm b/...m_simulator/maps/tb3_house_demo_crowd.pgm → ...ulator/maps/maps/tb3_house_demo_crowd.pgm
diff --git a/pedsim_simulator/maps/warehouse.pgm → pedsim_simulator/maps/maps/warehouse.pgm b/pedsim_simulator/maps/warehouse.pgm → pedsim_simulator/maps/maps/warehouse.pgm
diff --git a/pedsim_simulator/package.xml b/pedsim_simulator/package.xml
diff --git a/pedsim_simulator/src/simulator.cpp b/pedsim_simulator/src/simulator.cpp
@@ -55,7 +55,7 @@ void Simulator::initializeParams() {
   this->declare_parameter("max_robot_speed", 1.5);
   this->declare_parameter("update_rate", 25.0);
   this->declare_parameter("simulation_factor", 1.0);
-  this->declare_parameter("op_mode", 1);
+  this->declare_parameter("op_mode", 2);
   this->declare_parameter("queue_size", 10);
   this->declare_parameter("robot_radius", 0.35);
   this->declare_parameter("agent_radius", 0.35);