From 7baee30948676dd9e8930fc3354f24b4b2c9100c Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Fri, 1 May 2020 08:57:50 -0700 Subject: [PATCH 1/4] Adding team base --- subt_ign/launch/cave_circuit.ign | 47 +++++++++++++++++++++ subt_ign/launch/cloudsim_bridge.ign | 9 ++++ subt_ign/launch/cloudsim_sim.ign | 41 ++++++++++++++++++ subt_ign/launch/competition.ign | 47 +++++++++++++++++++++ subt_ign/launch/tunnel_circuit_practice.ign | 47 +++++++++++++++++++++ subt_ign/launch/urban_circuit.ign | 47 +++++++++++++++++++++ subt_ign/launch/virtual_stix.ign | 47 +++++++++++++++++++++ subt_ros/launch/teambase_description.launch | 4 ++ subt_ros/launch/teambase_topics.launch | 19 +++++++++ teambase_description/CMakeLists.txt | 11 +++++ teambase_description/package.xml | 14 ++++++ teambase_description/urdf/teambase.xacro | 13 ++++++ 12 files changed, 346 insertions(+) create mode 100644 subt_ros/launch/teambase_description.launch create mode 100644 subt_ros/launch/teambase_topics.launch create mode 100644 teambase_description/CMakeLists.txt create mode 100644 teambase_description/package.xml create mode 100644 teambase_description/urdf/teambase.xacro diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign index 04fdada6..c147113c 100644 --- a/subt_ign/launch/cave_circuit.ign +++ b/subt_ign/launch/cave_circuit.ign @@ -1038,6 +1038,47 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% @@ -1072,6 +1113,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign index 3781781d..84d580c0 100644 --- a/subt_ign/launch/cloudsim_bridge.ign +++ b/subt_ign/launch/cloudsim_bridge.ign @@ -174,6 +174,15 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index 95e6faba..580d9e1c 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -1038,6 +1038,41 @@ " \n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n" + end %> <% @@ -1072,6 +1107,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index 90fd87dc..febe7b85 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -946,6 +946,47 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% @@ -974,6 +1015,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign index e1779cce..bd180d64 100644 --- a/subt_ign/launch/tunnel_circuit_practice.ign +++ b/subt_ign/launch/tunnel_circuit_practice.ign @@ -938,6 +938,47 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% @@ -966,6 +1007,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign index e9afb7d4..e676401c 100644 --- a/subt_ign/launch/urban_circuit.ign +++ b/subt_ign/launch/urban_circuit.ign @@ -999,6 +999,47 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% @@ -1033,6 +1074,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ign/launch/virtual_stix.ign b/subt_ign/launch/virtual_stix.ign index 9e692d1b..ac30a2c0 100644 --- a/subt_ign/launch/virtual_stix.ign +++ b/subt_ign/launch/virtual_stix.ign @@ -908,6 +908,47 @@ " roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}\n"\ "\n" end + + def spawnTeamBase(_x, _y, _z, _yaw) + "\n"\ + " TeamBase\n"\ + " false\n"\ + " #{$worldName}\n"\ + " false\n"\ + " \n"\ + " \n"\ + " #{_x} #{_y} #{_z} 0 0 #{_yaw}\n"\ + " true\n"\ + " \n"\ + " 0 0 0.05 0 0 0\n"\ + " \n"\ + " \n"\ + " \n"\ + " .1 .1 .1\n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " \n"\ + " true\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " false\n"\ + " \n"\ + " \n"\ + " \n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}\n"\ + "\n"\ + "\n"\ + " roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}\n"\ + "\n" + end %> <% @@ -936,6 +977,12 @@ robotSpawned += 1 %> <%= spawnX4(name, robotConfigN, posX, posY) %> +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% else # Try a team-submitted vehicle. diff --git a/subt_ros/launch/teambase_description.launch b/subt_ros/launch/teambase_description.launch new file mode 100644 index 00000000..fae2f5b4 --- /dev/null +++ b/subt_ros/launch/teambase_description.launch @@ -0,0 +1,4 @@ + + + + diff --git a/subt_ros/launch/teambase_topics.launch b/subt_ros/launch/teambase_topics.launch new file mode 100644 index 00000000..c5f741f3 --- /dev/null +++ b/subt_ros/launch/teambase_topics.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + diff --git a/teambase_description/CMakeLists.txt b/teambase_description/CMakeLists.txt new file mode 100644 index 00000000..a6b17bc6 --- /dev/null +++ b/teambase_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 2.8.3) +project(teambase_description) + +find_package(catkin REQUIRED COMPONENTS roslaunch) + +catkin_package() + +install( + DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/teambase_description/package.xml b/teambase_description/package.xml new file mode 100644 index 00000000..0c2636cd --- /dev/null +++ b/teambase_description/package.xml @@ -0,0 +1,14 @@ + + + teambase_description + 0.0.1 + The teambase_description package + Nate Koenig + Nate Koenig + Apache2 + + catkin + roslaunch + urdf + xacro + diff --git a/teambase_description/urdf/teambase.xacro b/teambase_description/urdf/teambase.xacro new file mode 100644 index 00000000..58178a82 --- /dev/null +++ b/teambase_description/urdf/teambase.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + From 240a57d98f089d41c1190de531a7ed7523f7916a Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Fri, 1 May 2020 09:19:24 -0700 Subject: [PATCH 2/4] One team base only --- subt_ign/launch/cave_circuit.ign | 9 +++++++-- subt_ign/launch/cloudsim_bridge.ign | 13 ++++++++++++- subt_ign/launch/cloudsim_sim.ign | 7 ++++++- subt_ign/launch/competition.ign | 7 ++++++- subt_ign/launch/tunnel_circuit_practice.ign | 7 ++++++- subt_ign/launch/urban_circuit.ign | 7 ++++++- subt_ign/launch/virtual_stix.ign | 7 ++++++- 7 files changed, 49 insertions(+), 8 deletions(-) diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign index c147113c..900d9c4f 100644 --- a/subt_ign/launch/cave_circuit.ign +++ b/subt_ign/launch/cave_circuit.ign @@ -36,6 +36,8 @@ spawnWorldYaw = 0 guiCameraPose = "-6.3 -4.2 3.6 0 0.268 0.304" + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -1117,9 +1119,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> -<% +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<% + end else # Try a team-submitted vehicle. package = config.downcase diff --git a/subt_ign/launch/cloudsim_bridge.ign b/subt_ign/launch/cloudsim_bridge.ign index 84d580c0..f08a585a 100644 --- a/subt_ign/launch/cloudsim_bridge.ign +++ b/subt_ign/launch/cloudsim_bridge.ign @@ -41,6 +41,8 @@ %> <% + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists maxRobotCount = 20 robotNames = [] @@ -198,7 +200,16 @@ <%= spawnX3(robotNames[i], robotConfigs[i][-1]) %> <% elsif robotConfigs[i][1] == "4" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5") %> <%= spawnX4(robotNames[i], robotConfigs[i][-1]) %> -<% else +<% + elsif (name.downcase == "teambase" || name.downcase == "team_base") && + (config.downcase == "teambase" || config.downcase == "team_base") + robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true +%> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<% end + else # Try a team-submitted vehicle. package = config.downcase installDir = `rospack find #{package}`.chomp diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index 580d9e1c..7af510cf 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -57,6 +57,8 @@ guiCameraPose = "-6.3 -4.2 3.6 0 0.268 0.304" end + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -1111,9 +1113,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% + end else # Try a team-submitted vehicle. package = config.downcase diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index febe7b85..20228d21 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -26,6 +26,8 @@ %> <% + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -1019,9 +1021,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% + end else # Try a team-submitted vehicle. package = config.downcase diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign index bd180d64..0a875bf5 100644 --- a/subt_ign/launch/tunnel_circuit_practice.ign +++ b/subt_ign/launch/tunnel_circuit_practice.ign @@ -29,6 +29,8 @@ %> <% + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -1011,9 +1013,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% + end else # Try a team-submitted vehicle. package = config.downcase diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign index e676401c..7a3a6ca3 100644 --- a/subt_ign/launch/urban_circuit.ign +++ b/subt_ign/launch/urban_circuit.ign @@ -35,6 +35,8 @@ spawnWorldZPos = 7.5 spawnWorldYaw = 0 + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -1078,9 +1080,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% + end else # Try a team-submitted vehicle. package = config.downcase diff --git a/subt_ign/launch/virtual_stix.ign b/subt_ign/launch/virtual_stix.ign index ac30a2c0..699738bf 100644 --- a/subt_ign/launch/virtual_stix.ign +++ b/subt_ign/launch/virtual_stix.ign @@ -26,6 +26,8 @@ %> <% + teamBaseSpawned = false + # Check if robotNameX and robotConfigX exists spawnRowSize = 4 spawnColSize = 5 @@ -981,9 +983,12 @@ elsif (name.downcase == "teambase" || name.downcase == "team_base") && (config.downcase == "teambase" || config.downcase == "team_base") robotSpawned += 1 + if !teamBaseSpawned + teamBaseSpawned = true %> -<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> +<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %> <% + end else # Try a team-submitted vehicle. package = config.downcase From 32252498f9252f310d06120ffc17673e307b2e24 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 6 May 2020 10:00:00 -0700 Subject: [PATCH 3/4] Updates based on review --- subt_ign/launch/cave_circuit.ign | 9 --------- subt_ign/launch/cloudsim_sim.ign | 9 --------- subt_ign/launch/tunnel_circuit_practice.ign | 9 --------- subt_ign/launch/urban_circuit.ign | 9 --------- subt_ign/launch/virtual_stix.ign | 9 --------- subt_ros/launch/teambase_topics.launch | 17 +---------------- teambase_description/urdf/teambase.xacro | 2 +- 7 files changed, 2 insertions(+), 62 deletions(-) diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign index 900d9c4f..15dccc7d 100644 --- a/subt_ign/launch/cave_circuit.ign +++ b/subt_ign/launch/cave_circuit.ign @@ -1062,15 +1062,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n"\ diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index 7af510cf..3b0558e1 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -1062,15 +1062,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n" diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign index 0a875bf5..2498a710 100644 --- a/subt_ign/launch/tunnel_circuit_practice.ign +++ b/subt_ign/launch/tunnel_circuit_practice.ign @@ -962,15 +962,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n"\ diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign index 7a3a6ca3..3cf97dc8 100644 --- a/subt_ign/launch/urban_circuit.ign +++ b/subt_ign/launch/urban_circuit.ign @@ -1023,15 +1023,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n"\ diff --git a/subt_ign/launch/virtual_stix.ign b/subt_ign/launch/virtual_stix.ign index 699738bf..a49cfeff 100644 --- a/subt_ign/launch/virtual_stix.ign +++ b/subt_ign/launch/virtual_stix.ign @@ -932,15 +932,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n"\ diff --git a/subt_ros/launch/teambase_topics.launch b/subt_ros/launch/teambase_topics.launch index c5f741f3..26de6110 100644 --- a/subt_ros/launch/teambase_topics.launch +++ b/subt_ros/launch/teambase_topics.launch @@ -1,19 +1,4 @@ - - - - - - - - - + diff --git a/teambase_description/urdf/teambase.xacro b/teambase_description/urdf/teambase.xacro index 58178a82..282359a6 100644 --- a/teambase_description/urdf/teambase.xacro +++ b/teambase_description/urdf/teambase.xacro @@ -2,7 +2,7 @@ - + From c94f34ebe8cfe4565a65ca395cec27ff35119425 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 6 May 2020 10:06:46 -0700 Subject: [PATCH 4/4] Missed one pose publisher --- subt_ign/launch/competition.ign | 9 --------- 1 file changed, 9 deletions(-) diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index 20228d21..6b2058a2 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -970,15 +970,6 @@ " \n"\ " \n"\ " \n"\ - " \n"\ - " \n"\ - " true\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " false\n"\ - " \n"\ " \n"\ " \n"\ "\n"\