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config_script.bash
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config_script.bash
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#!/bin/bash
echo "-------------------------------------------------------------"
echo "TU Many Bots configuration"
echo "-------------------------------------------------------------"
echo "tmb_ROBOT_ENV: [simple_corridor, maze, maze_clutter, maze_clutter_limited]"
echo "tmb_start_both: [true, false]"
echo "-------------------------------------------------------------"
if [ -z ${tmb_ROBOT_ENV+x} ]
then
world=maze_clutter_limited
else
world=$tmb_ROBOT_ENV
fi
if [[ $tmb_with_predicting_yaw == False ]]
then
with_predicting_yaw=$tmb_with_predicting_yaw
else
with_predicting_yaw=True
fi
if [[ $tmb_start_both == False ]]
then
start_both=$tmb_start_both
else
start_both=True
fi
if [[ $tmb_publish_perception_logs == True ]]
then
publish_perception_logs=True
else
publish_perception_logs=False
fi
export tmb_ROBOT_ENV=$world
export tmb_ROBOT=rto-1
export tmb_ROBOT_BLIND=rto-blind
export tmb_start_both=$start_both
export tmb_publish_perception_logs=$publish_perception_logs
export tmb_with_predicting_yaw=$with_predicting_yaw
echo "selected world is: $world"
echo "starting both robots: $start_both"
echo "with predicting yaw: $with_predicting_yaw"
echo "-------------------------------------------------------------"
if [ $world="simple_corridor" ]
then
export tmb_start_robot1_x="0.0"
export tmb_start_robot1_y="0.0"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="0"
export tmb_start_robot2_x="1.0"
export tmb_start_robot2_y="0.0"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="0"
export tmb_start_robot_blind_x="-7.0"
export tmb_start_robot_blind_y="0.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="5.7"
export tmb_start_goal_x="0.60339"
export tmb_start_goal_y="6.06"
export tmb_start_goal_yaw="0"
export tmb_start_robot_1_map_transform_x="0"
export tmb_start_robot_1_map_transform_y="0"
export tmb_start_robot_1_map_transform_z="0"
export tmb_start_robot_2_map_transform_x="0"
export tmb_start_robot_2_map_transform_y="0"
export tmb_start_robot_2_map_transform_z="0"
fi
if [ $world = "maze" ]
then
export tmb_start_robot1_x="4.3"
export tmb_start_robot1_y="-6"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="3.0"
export tmb_start_robot2_x="21.3"
export tmb_start_robot2_y="8.0"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="-1.6"
export tmb_start_robot_blind_x="15.0"
export tmb_start_robot_blind_y="-9.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="0.0"
export tmb_start_goal_x="0"
export tmb_start_goal_y="0"
export tmb_start_goal_yaw="0"
fi
if [ $world = "maze_simple" ]
then
export tmb_start_robot1_x="3.7"
export tmb_start_robot1_y="-8.4"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="0.0"
export tmb_start_robot2_x="9.5"
export tmb_start_robot2_y="8.5"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="-1.6"
export tmb_start_robot_blind_x="-9.0"
export tmb_start_robot_blind_y="-8.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="0.0"
export tmb_start_goal_x="-4.60322"
export tmb_start_goal_y="6.47698"
export tmb_start_goal_yaw="0"
fi
if [ $world = "maze_simple_2" ]
then
export tmb_start_robot1_x="1.0"
export tmb_start_robot1_y="0.0"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="0.0"
export tmb_start_robot2_x="-1.0"
export tmb_start_robot2_y="0.0"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="0.0"
export tmb_start_robot_blind_x="-5.0"
export tmb_start_robot_blind_y="8.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="0.0"
export tmb_start_goal_x="4.26245"
export tmb_start_goal_y="-9.112855"
export tmb_start_goal_yaw="0"
fi
if [ $world = "maze_clutter" ]
then
export tmb_start_robot1_x="1.0"
export tmb_start_robot1_y="0.0"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="0.0"
export tmb_start_robot2_x="-1.0"
export tmb_start_robot2_y="0.0"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="0.0"
export tmb_start_robot_blind_x="-5.0"
export tmb_start_robot_blind_y="8.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="0.0"
export tmb_start_goal_x="4.04245"
export tmb_start_goal_y="-9.42855"
export tmb_start_goal_yaw="0"
export tmb_start_robot_1_map_transform_x="0"
export tmb_start_robot_1_map_transform_y="0"
export tmb_start_robot_1_map_transform_z="0"
export tmb_start_robot_2_map_transform_x="0"
export tmb_start_robot_2_map_transform_y="0"
export tmb_start_robot_2_map_transform_z="0"
fi
if [ $world = "maze_clutter_limited" ]
then
export tmb_start_robot1_x="1.0"
export tmb_start_robot1_y="0.0"
export tmb_start_robot1_z="0.0"
export tmb_start_robot1_yaw="0.0"
export tmb_start_robot2_x="-1.0"
export tmb_start_robot2_y="0.0"
export tmb_start_robot2_z="0.0"
export tmb_start_robot2_yaw="0.0"
export tmb_start_robot_blind_x="-7.5"
export tmb_start_robot_blind_y="-4.0"
export tmb_start_robot_blind_z="0.0"
export tmb_start_robot_blind_yaw="0.0"
export tmb_start_goal_x="2"
export tmb_start_goal_y="2.5"
export tmb_start_goal_yaw="0"
export tmb_start_robot_1_map_transform_x="0"
export tmb_start_robot_1_map_transform_y="0"
export tmb_start_robot_1_map_transform_z="0"
export tmb_start_robot_2_map_transform_x="0"
export tmb_start_robot_2_map_transform_y="0"
export tmb_start_robot_2_map_transform_z="0"
fi