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Adapted main loops for simulator and player applications. #6

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Adapted main loops for simulator and player applications. #6

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47 changes: 28 additions & 19 deletions gaden_demo/demo/gaden_filament_simulator.rviz
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Original file line number Diff line number Diff line change
@@ -1,11 +1,21 @@
Panels:
- Class: rviz/Displays
Help Height: 81
Help Height: 96
Name: Displays
Property Tree Widget:
Expanded: ~
Expanded:
- /Status1
- /Grid1
- /Map1
- /Filaments_Dispersion1
- /Environment_CAD1
- /Gas_Dispersion1
- /Gas_Dispersion1/Status1
- /Gas_Sources1
- /Gas_Sources1/Namespaces1
- /Simulated_Sensors1
Splitter Ratio: 0.594443977
Tree Height: 758
Tree Height: 749
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -44,7 +54,7 @@ Visualization Manager:
Z: 0
Plane: XY
Plane Cell Count: 200
Reference Frame: <Fixed Frame>
Reference Frame: map
Value: true
- Class: rviz/Axes
Enabled: false
Expand All @@ -57,18 +67,17 @@ Visualization Manager:
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Enabled: false
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /filament_visualization
Name: Filaments_Dispersion
Namespaces:
{}
filaments: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Expand All @@ -84,7 +93,7 @@ Visualization Manager:
Marker Topic: /Gas_Distribution
Name: Gas_Dispersion
Namespaces:
Gas_Dispersion: true
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Expand All @@ -100,7 +109,7 @@ Visualization Manager:
Marker Topic: /Mox00/Sensor_display
Name: Simulated_Sensors
Namespaces:
sensor_visualization: true
{}
Queue Size: 100
Value: true
Enabled: true
Expand All @@ -126,32 +135,32 @@ Visualization Manager:
Views:
Current:
Class: rviz/XYOrbit
Distance: 18.3090649
Distance: 18.1148739
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.733855963
Y: -2.98371601
Z: -5.97928229e-05
X: 2.21766186
Y: 0.438620567
Z: -5.78854742e-05
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.18479669
Pitch: 1.15479672
Target Frame: <Fixed Frame>
Value: XYOrbit (rviz)
Yaw: 4.72364616
Yaw: 5.0386281
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1001
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000388fc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006700fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004300000388000000e300fffffffb00000014005200470042002d00430061006d006500720061020000006d0000003e000004840000034efb0000001800440065007000740068002d00430061006d0065007200610000000302000000c90000000000000000000000010000016300000388fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000388000000b300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000022300fffffffb0000000800540069006d00650100000000000004500000000000000000000005200000038800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001c00000038efc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000400000038e0000010100fffffffb00000014005200470042002d00430061006d006500720061020000006d0000003e000004840000034efb0000001800440065007000740068002d00430061006d0065007200610000000302000000c90000000000000000000000010000016300000388fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000388000000c300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000023300fffffffb0000000800540069006d00650100000000000004500000000000000000000004ca0000038e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -161,5 +170,5 @@ Window Geometry:
Views:
collapsed: true
Width: 1680
X: 1680
Y: 0
X: 526
Y: 45
34 changes: 34 additions & 0 deletions gaden_demo/launch/gaden_environment.launch
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@@ -0,0 +1,34 @@
<!-- DEMO mission file for GADEN filament simulator -->

<launch>

<arg name="FixedFrame" default="/map" />

### NODE environment (for RVIZ visualization) ###
<node pkg="gaden_environment" type="environment" name="environment" output="screen">
<param name="/fixed_frame" value="$(arg FixedFrame)"/>

# Plot source positions
<param name="/number_of_sources" value="3"/>
<param name="/source_0_position_x" value="-2.5"/>
<param name="/source_0_position_y" value="-3.0"/>
<param name="/source_0_position_z" value="1"/>

<param name="/source_1_position_x" value="2.5"/>
<param name="/source_1_position_y" value="-3.0"/>
<param name="/source_1_position_z" value="1"/>

<param name="/source_2_position_x" value="0.5"/>
<param name="/source_2_position_y" value="-1.5"/>
<param name="/source_2_position_z" value="1"/>

# Plot CAD models
<param name="/occupancy3D_data" value="$(find gaden_demo)/demo/OccupancyGrid3D.csv" />
<param name="/number_of_CAD" value="5"/>
<param name="/CAD_0" value="package://gaden_demo/demo/CADmodels/MAPIRlab_furniture_walls_cad_model.dae"/>
<param name="/CAD_1" value="package://gaden_demo/demo/CADmodels/MAPIRlab_furniture_windows_cad_model.dae"/>
<param name="/CAD_2" value="package://gaden_demo/demo/CADmodels/MAPIRlab_furniture_doors_cad_model.dae"/>
<param name="/CAD_3" value="package://gaden_demo/demo/CADmodels/MAPIRlab_furniture_tables_cad_model.dae"/>
<param name="/CAD_4" value="package://gaden_demo/demo/CADmodels/MAPIRlab_furniture_wardrobes_cad_model.dae"/>
</node>
</launch>
5 changes: 3 additions & 2 deletions gaden_demo/launch/gaden_player_demo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,10 @@
### NODE PLAYER ###
#-------------------
<node pkg="gaden_player" type="gaden_player" name="gaden_player" output="screen">
<param name="/single_stepping" value="yes"/>
<param name="/verbose" value="false" />
<param name="/player_freq" value="20" /> ###(Hz) Freq for loading the simulation log_files
<param name="/num_simulators" value="1" /> ### Number of simulations to load [1-inf] (useful for multiple sources and gases)
<param name="/player_freq" value="20" /> ###(Hz) Freq for loading the simulation log_files
<param name="/num_simulators" value="1" /> ### Number of simulations to load [1-inf] (useful for multiple sources and gases)

# Data from the "filament_simulator" pkg
# Multiple sources can be set here
Expand Down
9 changes: 5 additions & 4 deletions gaden_demo/launch/gaden_simulator_demo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -37,12 +37,13 @@
### NODE Filament Simulator ###
<node pkg="gaden_filament_simulator" type="filament_simulator" name="filament_simulator1" output="screen">
<param name="/sim_time" value="300" /> ### [sec] Total time of the gas dispersion simulation
<param name="/single_stepping" value="yes" />
<param name="/time_step" value="0.1" /> ### [sec] Time increment between snapshots. Set aprox = cell_size/max_wind_speed.
<param name="/num_filaments_sec" value="10" /> ### Num of filaments released each second
<param name="/ppm_filament_center" value="10"/> ### [ppm] Gas concentration at the center of the 3D gaussian (filament)
<param name="/filament_initial_std" value="10"/> ### [cm] Sigma of the filament at t=0-> 3DGaussian shape
<param name="/filament_growth_gamma" value="10"/> ### [cm²/s] Growth ratio of the filament_std
<param name="/filament_noise_std" value="0.02"/> ### [m] Range of the white noise added on each iteration
<param name="/ppm_filament_center" value="10"/> ### [ppm] Gas concentration at the center of the 3D gaussian (filament)
<param name="/filament_initial_std" value="10"/> ### [cm] Sigma of the filament at t=0-> 3DGaussian shape
<param name="/filament_growth_gamma" value="10"/> ### [cm²/s] Growth ratio of the filament_std
<param name="/filament_noise_std" value="0.02"/> ### [m] Range of the white noise added on each iteration
<param name="/gas_type" value="0" /> ### 0=Ethanol, 1=Methane, 2=Hydrogen, 6=Acetone
<param name="/temperature" value="298"/> ### [Kelvins]
<param name="/pressure" value="1"/> ### [Atm]
Expand Down
3 changes: 2 additions & 1 deletion gaden_filament_simulator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,14 @@ find_package(catkin REQUIRED COMPONENTS
std_msgs
nav_msgs
pcl_ros
gaden_msgs
)

find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)

catkin_package(
DEPENDS roscpp visualization_msgs std_msgs nav_msgs
DEPENDS roscpp visualization_msgs std_msgs nav_msgs gaden_msgs
)

include_directories(include)
Expand Down
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