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What for *_nosim.conf files? #92

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130s opened this issue May 3, 2014 · 7 comments

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commented May 3, 2014

Question to @k-okada
catkin_makeing hironx_ros_bridge package yields some *.conf and _nosim.conf files in conf directory. What is the difference between them?

nosim gives an impression of "no simulation" so that ones without nosim might be "simulation". But as long as I look at the contents of those files I feel the opposite; nosim files contains more adhoc file paths and seem to be simulation. If so, shouldn't we use a static file path for the model file in kawada-hironx_nosim.conf where the path needs to be the location of the .wrl file on QNX (otherwise collision visualization doesn't work).

@130s 130s added the question label May 3, 2014

@130s 130s referenced this issue May 5, 2014

Merged

Launch collision detection by default. #89

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commented May 5, 2014

nosim is simulation without dynamics, and the other one is simulation with dynamics.

so maybe we need kawada_hironx_real.conf for real robot.

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commented May 6, 2014

I see.

so maybe we need kawada_hironx_real.conf for real robot.

It's already added in my proposed change 130s@8081dac

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commented May 23, 2014

So does this change sound even better?

  • Change _nosim --> _sim_nodynamics
  • Change the one without attribute --> _sim_dynamics
  • Add _realrobot

@130s 130s reopened this May 23, 2014

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commented May 23, 2014

  • Add _realrobot

I think this is ok.

but

  • Change _nosim --> _sim_nodynamics
  • Change the one without attribute --> _sim_dynamics

they are autogenerated at https://github.com/start-jsk/rtmros_common/blob/master/hrpsys_ros_bridge/cmake/compile_robot_model.cmake#L95, so if we change the name, we'd have to change comile_robot_model.cmake, and the it causes side-effects to many packages.

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commented May 23, 2014

I see. So,

  • I'll add document (ros wiki might be the best for now) for nosim etc.
  • Does _realrobot file also need to be auto-generated? If not I'll just commit a XX_realrobot.conf file.
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commented May 23, 2014

I'll add document (ros wiki might be the best for now) for nosim etc.

Yes please

Does _realrobot file also need to be auto-generated? If not I'll just commit a XX_realrobot.conf file.

no, currently it is not auto generated and we do not have such plan at this moment

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commented May 23, 2014

Added document on wiki about difference of conf files.

Static files for real robots are added (hironx_realrobot_fixedpath.conf and hironx_ros_bridge_real.launch).

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