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launch_sequence-CrowdBotUnity-ROS.txt
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launch_sequence-CrowdBotUnity-ROS.txt
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ROSSETUP:
export ROS_IP=127.0.0.1
export ROS_MASTER_URI=http://127.0.0.1:11311
#export ROS_HOSTNAME=localhost
#export ROS_MASTER_URI=http://localhost:11311
#export ROS_IP=192.168.13.104 #(local Qolo_Net assigned IP)
#export ROS_MASTER_URI=http://192.168.13.110:11311
Unity:
/hdd/crowdbot_simulator/UnityHub.AppImage &
OPen CrowdBot Simulation
Open: Scenes/CrowdBot/EPFL/qolo1Dflow
Terminal 1
roscore
Terminal 2
cd /hdd/crowdbot_simulator/CrowdBotUnity/catkin_crowdbotsim
. devel/setup.bash
roslaunch crowdbotsim unity_sim.launch
Terminal 3:
cd /hdd/crowdbot_simulator/CrowdBotUnity/catkin_crowdbotsim
. devel/setup.bash
rosrun crowdbotsim clock_publisher.py 0.1 0.1
## THe first digit is the computers (external) publishing frequency {sleep_time}
## The second number is the Unity Simulation time step {delta_time} --> recommended 0.01 - 0.1
terminal 4:
sudo -s
cd ~/qolo_ws
. devel/setup.bash
roslaunch qolo simulator_qolo.launch
or for Joystick control:
python src/qolo_ros/qolo_package/src/remote_joystick_simulator.py
In a web browser:
127.0.0.1:8080
terminal 5:
cd ~/qolo_ws
. devel/setup.bash
roslaunch qolo rviz.launch
===================== EDITING Scenes =========================
EDITING Scenes:
gedit /home/crowdbot/CrowdBot_simulator/CrowdBotUnity/Scenario/CrowdBot/EPFL/FileOrder.csv &
Add to this file the address of the xml generated witht he trial generator:
/Scenario/CrowdBot/EPFL/qolo_simple_VR.xml
====== TBC ======