From aa764eb9a24e8b1f4b979871c76721afdc81f442 Mon Sep 17 00:00:00 2001
From: Melih Erdogan <h.meliherdogan@gmail.com>
Date: Wed, 11 Dec 2019 15:00:12 -0800
Subject: [PATCH] fixes/changes for nav2 systems test models and maps
- Changed the empty_room.yaml a file. It was a symbolic link before.
- Directory and model name changes for tb3 with a depth camera.
- Increased the depth camera fps from 1 to 15
---
nav2_system_tests/maps/empty_room.yaml | 1 -
.../{turtlebot3_waffle_realsense => }/model.config | 4 ++--
.../{turtlebot3_waffle_realsense => }/model.sdf | 4 ++--
3 files changed, 4 insertions(+), 5 deletions(-)
rename nav2_system_tests/models/turtlebot3_waffle_depth_camera/{turtlebot3_waffle_realsense => }/model.config (78%)
rename nav2_system_tests/models/turtlebot3_waffle_depth_camera/{turtlebot3_waffle_realsense => }/model.sdf (99%)
diff --git a/nav2_system_tests/maps/empty_room.yaml b/nav2_system_tests/maps/empty_room.yaml
index 9b6cfc95..6d6af164 100644
--- a/nav2_system_tests/maps/empty_room.yaml
+++ b/nav2_system_tests/maps/empty_room.yaml
@@ -4,4 +4,3 @@ origin: [-10.000000, -10.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
-
diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
similarity index 78%
rename from nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
rename to nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
index acf1a68e..f82c96e5 100644
--- a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.config
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.config
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<model>
- <name>TurtleBot3(Waffle)</name>
+ <name>TurtleBot3_Waffle_DepthCamera</name>
<version>2.0</version>
<sdf version="1.5">model.sdf</sdf>
@@ -14,6 +14,6 @@
</author>
<description>
- TurtleBot3 Waffle
+ TurtleBot3 Waffle with Depth Camera
</description>
</model>
diff --git a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
similarity index 99%
rename from nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
rename to nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
index d7fe0f8b..6dd576df 100644
--- a/nav2_system_tests/models/turtlebot3_waffle_depth_camera/turtlebot3_waffle_realsense/model.sdf
+++ b/nav2_system_tests/models/turtlebot3_waffle_depth_camera/model.sdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<sdf version="1.5">
- <model name="turtlebot3_waffle">
+ <model name="TurtleBot3_Waffle_DepthCamera">
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
<link name="base_footprint"/>
@@ -335,7 +335,7 @@
<sensor name="intel_realsense_r200_depth" type="depth">
<always_on>1</always_on>
- <update_rate>1</update_rate>
+ <update_rate>15</update_rate>
<pose>0.064 -0.047 0.107 0 0 0</pose>
<camera name="realsense_depth_camera">
</camera>
--
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