Cave Circuit Communication Adjustment (#441)

* Adjustment of fading exponent from 2.5 to 1.5 for the cave circuit. * Add fading exponent to cloudsim launch files Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
osrf · Jun 3, 2020 · d62b4ab · d62b4ab
1 parent d6d35eb
commit d62b4ab
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
@@ -568,7 +568,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent>1.5</fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>

diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
@@ -70,6 +70,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -569,7 +574,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>