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Run demo.launch on melodic #101

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Run demo.launch on melodic #101

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71767a1
Run demo.launch on melodic
708yamaguchi Apr 1, 2020
5e7fd5c
use kwarg use_service when calling addSolidPrimitive
708yamaguchi Apr 14, 2020
5e6cd9d
Fix per review
erelson Jun 1, 2020
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11 changes: 11 additions & 0 deletions fetch_gazebo_demo/launch/demo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -16,4 +16,15 @@
<!-- Drive to the table, pick stuff up -->
<node name="demo" pkg="fetch_gazebo_demo" type="demo.py" output="screen" />

<!-- set rosparams to increase demo success rate -->
<rosparam>
<!-- Set inflation radius smaller inflation than default for fetch to come through narrow door -->
/move_base/local_costmap/inflater/inflation_radius: 0.3
/move_base/global_costmap/inflater/inflation_radius: 0.3
<!-- Set fetch's amcl pose at the origin of the map at the start of this demo, even if rosmaster was not killed and previous pose is saved -->
/amcl/initial_pose_x: 0.0
/amcl/initial_pose_y: 0.0
/amcl/initial_pose_a: 0.0
</rosparam>

</launch>
4 changes: 2 additions & 2 deletions fetch_gazebo_demo/scripts/demo.py
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Expand Up @@ -149,7 +149,7 @@ def updateScene(self):
self.scene.addSolidPrimitive(obj.object.name,
obj.object.primitives[0],
obj.object.primitive_poses[0],
wait = False)
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use_service=False)

for obj in find_result.support_surfaces:
# extend surface to floor, and make wider since we have narrow field of view
Expand All @@ -163,7 +163,7 @@ def updateScene(self):
self.scene.addSolidPrimitive(obj.name,
obj.primitives[0],
obj.primitive_poses[0],
wait = False)
use_service=False)

self.scene.waitForSync()

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