diff --git a/pedsim_simulator/CMakeLists.txt b/pedsim_simulator/CMakeLists.txt old mode 100644 new mode 100755 index f5eb1611..cbb84db5 --- 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 index 12f22b97..807a375b 100644 --- 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 b/pedsim_simulator/maps/maps/airport.pgm similarity index 100% rename from pedsim_simulator/maps/airport.pgm rename to pedsim_simulator/maps/maps/airport.pgm diff --git a/pedsim_simulator/maps/airport2.pgm b/pedsim_simulator/maps/maps/airport2.pgm similarity index 100% rename from pedsim_simulator/maps/airport2.pgm rename to pedsim_simulator/maps/maps/airport2.pgm diff --git a/pedsim_simulator/maps/airport_activities.pgm b/pedsim_simulator/maps/maps/airport_activities.pgm similarity index 100% rename from pedsim_simulator/maps/airport_activities.pgm rename to pedsim_simulator/maps/maps/airport_activities.pgm diff --git a/pedsim_simulator/maps/airport_activities2.pgm b/pedsim_simulator/maps/maps/airport_activities2.pgm similarity index 100% rename from pedsim_simulator/maps/airport_activities2.pgm rename to pedsim_simulator/maps/maps/airport_activities2.pgm diff --git a/pedsim_simulator/maps/blank_world.pgm b/pedsim_simulator/maps/maps/blank_world.pgm similarity index 100% rename from pedsim_simulator/maps/blank_world.pgm rename to pedsim_simulator/maps/maps/blank_world.pgm diff --git a/pedsim_simulator/maps/corridor.pgm b/pedsim_simulator/maps/maps/corridor.pgm similarity index 100% rename from pedsim_simulator/maps/corridor.pgm rename to pedsim_simulator/maps/maps/corridor.pgm diff --git a/pedsim_simulator/maps/office-cubicles.pgm b/pedsim_simulator/maps/maps/office-cubicles.pgm similarity index 100% rename from pedsim_simulator/maps/office-cubicles.pgm rename to pedsim_simulator/maps/maps/office-cubicles.pgm diff --git a/pedsim_simulator/maps/office.pgm b/pedsim_simulator/maps/maps/office.pgm similarity index 100% rename from pedsim_simulator/maps/office.pgm rename to pedsim_simulator/maps/maps/office.pgm diff --git a/pedsim_simulator/maps/scene1.pgm b/pedsim_simulator/maps/maps/scene1.pgm similarity index 100% rename from pedsim_simulator/maps/scene1.pgm rename to pedsim_simulator/maps/maps/scene1.pgm diff --git a/pedsim_simulator/maps/scene2.pgm b/pedsim_simulator/maps/maps/scene2.pgm similarity index 100% rename from pedsim_simulator/maps/scene2.pgm rename to pedsim_simulator/maps/maps/scene2.pgm diff --git a/pedsim_simulator/maps/scene3.pgm b/pedsim_simulator/maps/maps/scene3.pgm similarity index 100% rename from pedsim_simulator/maps/scene3.pgm rename to pedsim_simulator/maps/maps/scene3.pgm diff --git a/pedsim_simulator/maps/scene4.pgm b/pedsim_simulator/maps/maps/scene4.pgm similarity index 100% rename from pedsim_simulator/maps/scene4.pgm rename to pedsim_simulator/maps/maps/scene4.pgm diff --git a/pedsim_simulator/maps/singleagent.pgm b/pedsim_simulator/maps/maps/singleagent.pgm similarity index 100% rename from pedsim_simulator/maps/singleagent.pgm rename to pedsim_simulator/maps/maps/singleagent.pgm diff --git a/pedsim_simulator/maps/small_airport.pgm b/pedsim_simulator/maps/maps/small_airport.pgm similarity index 100% rename from pedsim_simulator/maps/small_airport.pgm rename to pedsim_simulator/maps/maps/small_airport.pgm diff --git a/pedsim_simulator/maps/social_contexts.pgm b/pedsim_simulator/maps/maps/social_contexts.pgm similarity index 100% rename from pedsim_simulator/maps/social_contexts.pgm rename to pedsim_simulator/maps/maps/social_contexts.pgm diff --git a/pedsim_simulator/maps/tb3_house_demo_crowd.pgm b/pedsim_simulator/maps/maps/tb3_house_demo_crowd.pgm similarity index 100% rename from pedsim_simulator/maps/tb3_house_demo_crowd.pgm rename to pedsim_simulator/maps/maps/tb3_house_demo_crowd.pgm diff --git a/pedsim_simulator/maps/warehouse.pgm b/pedsim_simulator/maps/maps/warehouse.pgm similarity index 100% rename from pedsim_simulator/maps/warehouse.pgm rename to pedsim_simulator/maps/maps/warehouse.pgm diff --git a/pedsim_simulator/package.xml b/pedsim_simulator/package.xml old mode 100644 new mode 100755 diff --git a/pedsim_simulator/src/simulator.cpp b/pedsim_simulator/src/simulator.cpp index 62e4e750..52a6192f 100644 --- 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);