Removed test_competitor package

ariac_gazebo/config/sensors.yaml

@@ -0,0 +1,15 @@
+robot_cameras:
+  floor_robot_camera: 
+    active: false
+    type: rgb
+
+  ceiling_robot_camera: 
+    active: false
+    type: rgbd
+
+static_sensors:  
+  conveyor_breakbeam:
+    type: break_beam
+    pose:
+      xyz: [-0.352, 3.91, 0.88]
+      rpy: [0, 0, pi]

ariac_gazebo/config/trials/assembly.yaml

@@ -1,5 +1,5 @@
 # Trial Name: assembly.yaml
-# ARIAC2023
+# ARIAC2024
 
 # ENVIRONMENT SETUP
 

ariac_gazebo/config/trials/combined.yaml

@@ -9,6 +9,12 @@ kitting_trays: # Which kitting trays will be spawn
   tray_ids: [1] 
   slots: [4]
 
+assembly_inserts:
+  as1: '0.0'
+  as2: '0.0'
+  as3: '0.0'
+  as4: '0.0'
+
 parts:  
   bins: # bin params - 8 total bins each bin has nine total slots (1-9)
     bin1:

ariac_gazebo/config/trials/kitting.yaml

@@ -1,5 +1,5 @@
-# Trial Name: qc.yaml
-# ARIAC2023
+# Trial Name: kitting.yaml
+# ARIAC2024
 
 # ENVIRONMENT SETUP
 
@@ -9,6 +9,12 @@ kitting_trays: # Which kitting trays will be spawn
   tray_ids: [3, 8] 
   slots: [1, 4]
 
+assembly_inserts:
+  as1: '0.0'
+  as2: '0.0'
+  as3: '0.0'
+  as4: '0.0'
+
 parts:
   bins: # bin params - 8 total bins each bin has nine total slots (1-9)
     bin2:

ariac_gazebo/config/trials/tutorial.yaml

@@ -1,5 +1,5 @@
 # Trial Name: tutorial.yaml
-# ARIAC2023
+# ARIAC2024
 
 # ENVIRONMENT SETUP
 
@@ -9,6 +9,12 @@ kitting_trays: # Which kitting trays will be spawn
   tray_ids: [3, 5, 8, 0] 
   slots: [1, 3, 5, 6]
 
+assembly_inserts:
+  as1: '0.0'
+  as2: '0.0'
+  as3: '0.0'
+  as4: '0.0'
+
 parts:
   agvs:
     agv1:

ariac_gazebo/launch/ariac.launch.py

@@ -196,7 +196,7 @@ def generate_launch_description():
     )
 
     declared_arguments.append(
-        DeclareLaunchArgument("competitor_pkg", default_value="test_competitor", description="name of competitor package"))
+        DeclareLaunchArgument("competitor_pkg", default_value="ariac_gazebo", description="name of competitor package"))
 
     declared_arguments.append(
         DeclareLaunchArgument("sensor_config", default_value="sensors", description="name of user configuration file")