Prepare for Red Ball Demo Test #34
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pattacini
commented
Jul 13, 2021
| @@ -824,7 +825,7 @@ class managerThread : public PeriodicThread | |||
| } | |||
| } | |||
| else if (((state==STATE_IDLE) || (state==STATE_REACH)) && | |||
| ((Time::now()-idleTimer)>idleTmo) && !wentHome) | |||
| ((Time::now()-idleTimer)>idleTmo) && !wentHome && !simulation) | |||
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This addition is because, when we're in simulation and we ask the robot to look down at startup, the robot needs to keep looking down instead of going home.
pattacini
commented
Jul 13, 2021
| @@ -57,7 +57,7 @@ cameraGroup CAMERA_CALIBRATION_LEFT | |||
| #trackedObjectType [sphere|parallelogram] | |||
| trackedObjectType sphere | |||
| trackedObjectColorTemplate models/red_ball_gazebo.bmp | |||
| trackedObjectShapeTemplate models/initial_ball_points_36mm_20percent.csv | |||
| trackedObjectShapeTemplate models/red_ball_gazebo_model.csv | |||
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Actually, the red ball in Gazebo has a radius of 25 mm.
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Nicogene
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Jul 14, 2021
|
Merged, thanks! |
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This PR proposes changes in order to enable the use of Gazebo for the red-ball test as per #32 (review).
A couple of insights on this:
startcommand has been extended in order to let the simulated robot look (optionally) at a specified location; I do employ this option to make the robot look down during the red-ball test, otherwise the ball will be off the camera.These changes have been tested successfully ✔️