Update example-multi-robot (#117)

IntelLabs · Jul 22, 2024 · bbd5978 · bbd5978
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Showing 5 changed files with 18 additions and 19 deletions.
diff --git a/.github/workflows/test_build.yml b/.github/workflows/test_build.yml
@@ -300,9 +300,9 @@ jobs:
           export -n CYCLONEDDS_URI
           export ROS_DOMAIN_ID=2
           export IGN_PARTITION=${HOSTNAME}:${GITHUB_RUN_ID}
-          sed -i 's/240s/900s/g' examples/example_multi_robot/example_multi_robot.osc
+          sed -i 's/240s/900s/g' examples/example_multi_robot/scenarios/example_multi_robot.osc
           # shellcheck disable=SC1083
-          scenario_batch_execution -i examples/example_multi_robot/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR} headless:=True
+          scenario_batch_execution -i examples/example_multi_robot/scenarios/ -o test_example_multirobot -- ros2 launch tb4_sim_scenario sim_nav_scenario_launch.py scenario:={SCENARIO} yaw:=3.14 output_dir:={OUTPUT_DIR} headless:=True
       - name: Upload result
         uses: actions/upload-artifact@ef09cdac3e2d3e60d8ccadda691f4f1cec5035cb
         if: always()

diff --git a/docs/libraries.rst b/docs/libraries.rst
@@ -696,26 +696,26 @@ Wait until a TF frame is close to a defined reference point.
      - Type
      - Default
      - Description
-   * - ``namespace_override``
-     - ``string``
+   * - ``threshold``
+     - ``length``
      - 
-     - if set, it's used as namespace (instead of the associated actor's namespace)
+     - Distance at which the action succeeds.
    * - ``reference_point``
      - ``position_3d``
      -
      - Reference point to measure to distance to (z is not considered)
-   * - ``threshold``
-     - ``length``
-     - 
-     - Distance at which the action succeeds.
+   * - ``robot_frame_id``
+     - ``string``
+     - ``base_link``
+     - Defines the TF frame id of the robot
    * - ``sim``
      - ``bool``
      - ``false``
      - In simulation, we need to look up the transform map --> base_link at a different time as the scenario execution node is not allowed to use the sim time
-   * - ``robot_frame_id``
+   * - ``namespace_override``
      - ``string``
-     - ``base_link``
-     - Defines the TF frame id of the robot
+     - ``''``
+     - if set, it's used as namespace (instead of the associated actor's namespace)
 
 ``log_check()``
 """""""""""""""

diff --git a/examples/example_multi_robot/package.xml b/examples/example_multi_robot/package.xml
@@ -10,6 +10,7 @@
 
   <exec_depend>rclpy</exec_depend>
   <exec_depend>scenario_execution_gazebo</exec_depend>
+  <exec_depend>gazebo_static_camera</exec_depend>
   <exec_depend>tb4_sim_scenario</exec_depend>
 
   <test_depend>ament_copyright</test_depend>

diff --git a/...ample_multi_robot/example_multi_robot.osc → ...i_robot/scenarios/example_multi_robot.osc b/...ample_multi_robot/example_multi_robot.osc → ...i_robot/scenarios/example_multi_robot.osc
@@ -17,7 +17,5 @@ scenario multi_robot:
                 robot.nav_to_pose(goal_pose: pose_3d(position: position_3d(x: -4.0m), orientation: orientation_3d(yaw: 3.14rad)))
                 emit end
             serial:
-                topic_publish() with:
-                    keep(it.topic_name == '/robot2/cmd_vel')
-                    keep(it.topic_type == 'geometry_msgs.msg.Twist')
-                    keep(it.value == '{\"linear\": {\"x\": 0.6, \"y\": 0.0, \"z\": 0.0}, \"angular\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}}')
+                robot.tf_close_to(threshold: 0.35m, reference_point: position_3d(-1.5m, 0.0m), robot_frame_id: 'turtlebot4_base_link_gt')
+                topic_publish('/robot2/cmd_vel', 'geometry_msgs.msg.Twist', '{\"linear\": {\"x\": 0.6, \"y\": 0.0, \"z\": 0.0}, \"angular\": {\"x\": 0.0, \"y\": 0.0, \"z\": 0.0}}')
diff --git a/scenario_execution_ros/scenario_execution_ros/lib_osc/ros.osc b/scenario_execution_ros/scenario_execution_ros/lib_osc/ros.osc
@@ -107,11 +107,11 @@ action differential_drive_robot.odometry_distance_traveled:
 
 action differential_drive_robot.tf_close_to:
     # Wait until a TF frame is close to a defined reference point
-    namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
-    reference_point: position_3d         # z is not considered
     threshold: length                    # distance at which the action succeeds
-    sim: bool = false                    # in simulation, we need to look up the transform map --> base_link at a different time as the scenario execution node is not allowed to use the sim time
+    reference_point: position_3d         # z is not considered
     robot_frame_id: string = 'base_link' # defines the TF frame id of the robot 
+    sim: bool = false                    # in simulation, we need to look up the transform map --> base_link at a different time as the scenario execution node is not allowed to use the sim time
+    namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
 
 action log_check:
     # Check the ROS log for specific output