Sim Environment Cleanup

- Remove unnecessary sensors
- Add script to run sim without building
- Add script to run sim with full catkin rebuild
- Remove default sensors and arm2 from sim

rrrobot_ws/src/rrrobot/config/rrrobot.yaml

@@ -79,10 +79,10 @@ random_seed: 1                       # Seed for the pseudo random number generat
 #   - piston_rod_part_57                # The piston rod part in the bins with randomized ID of 57
 #   - piston_rod_part_45
 
-# Models to be inserted in the bins
-models_over_bins:
-  bin1:                              # Name of the bin (bin1-bin6, as named in the environment simulation)
-    models:                          # List of models to insert
+# # Models to be inserted in the bins
+# models_over_bins:
+#   bin1:                              # Name of the bin (bin1-bin6, as named in the environment simulation)
+#     models:                          # List of models to insert
 #       gear_part:                     # Type of model to insert
 #         xyz_start: [0.1, 0.1, 0]     # Origin of the first model to insert
 #         xyz_end: [0.5, 0.5, 0]       # Origin of the last model to insert

rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml

@@ -1,36 +1,11 @@
 sensors:
-    break_beam_1:
-      type: break_beam
-      pose:
-        xyz: [1.6, 2.25, 0.91]
-        rpy: [0, 0, 'pi']
-    proximity_sensor_1:
-      type: proximity_sensor
-      pose:
-        xyz: [0.95, 2.6, 0.92]
-        rpy: [0, 0, 0]
     logical_camera_1:
       type: logical_camera
       pose:
-        xyz: [-0.3, 0.383, 1.27]
-        rpy: [0.2, 1.5707, 0]
-    logical_camera_2:
-      type: logical_camera
-      pose:
-        xyz: [0.3, 3.15, 1.5]
-        rpy: [0, 'pi/2', 0]
-    logical_camera_3:
-      type: logical_camera
-      pose:
-        xyz: [0.3, -3.15, 1.5]
-        rpy: [0, 'pi/2', 0]
+        xyz: [1.2, 3.5, 1.5]
+        rpy: [0, 1.5707, 0]
     depth_camera_1:
       type: depth_camera
       pose:
-        xyz: [-0.3, -0.383, 1.2]
+        xyz: [1.2, 0.75, 1.5]
         rpy: [0, 1.5707, 0]
-    laser_profiler_1:
-      type: laser_profiler
-      pose:
-        xyz: [1.21, 4, 1.6]
-        rpy: ['-pi', 'pi/2', 'pi/2']

rrrobot_ws/src/rrrobot/scripts/rrrobot_run.sh

@@ -1,8 +1,15 @@
 #!/bin/bash
 
+cd /app/rrrobot_ws/
+
+catkin_make clean
+catkin_make
+catkin_make install
+
+cd /app/rrrobot_ws/src/rrrobot/scripts
+
 sudo cp ../launch/rrrobot.launch /opt/ros/melodic/share/osrf_gear/launch
 sudo cp ../../../world/gear.py /opt/ros/melodic/lib/osrf_gear/gear.py
 sudo cp ../../../world/gear.world.template /opt/ros/melodic/share/osrf_gear/worlds/gear.world.template
 
-
 roslaunch osrf_gear rrrobot.launch

rrrobot_ws/src/rrrobot/scripts/rrrobot_run_no_build.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+
+sudo cp ../launch/rrrobot.launch /opt/ros/melodic/share/osrf_gear/launch
+sudo cp ../../../world/gear.py /opt/ros/melodic/lib/osrf_gear/gear.py
+sudo cp ../../../world/gear.world.template /opt/ros/melodic/share/osrf_gear/worlds/gear.world.template
+
+roslaunch osrf_gear rrrobot.launch

rrrobot_ws/world/gear.py

@@ -57,22 +57,22 @@ arm_configs = {
             'wrist_3_joint': 0,
         }
     },
-    'arm2': {
-        'arm_type': 'ur10',
-        'pose': {
-            'xyz': [0.3, -0.92, 0.9],
-            'rpy': [0.0, 0.0, 0.0]
-        },
-        'default_initial_joint_states': {
-            'elbow_joint': 2.14,
-            'linear_arm_actuator_joint': 0,
-            'shoulder_lift_joint': -2.0,
-            'shoulder_pan_joint': 3.14,
-            'wrist_1_joint': 3.27,
-            'wrist_2_joint': -1.51,
-            'wrist_3_joint': 0,
-        }
-    },
+    # 'arm2': {
+    #     'arm_type': 'ur10',
+    #     'pose': {
+    #         'xyz': [0.3, -0.92, 0.9],
+    #         'rpy': [0.0, 0.0, 0.0]
+    #     },
+    #     'default_initial_joint_states': {
+    #         'elbow_joint': 2.14,
+    #         'linear_arm_actuator_joint': 0,
+    #         'shoulder_lift_joint': -2.0,
+    #         'shoulder_pan_joint': 3.14,
+    #         'wrist_1_joint': 3.27,
+    #         'wrist_2_joint': -1.51,
+    #         'wrist_3_joint': 0,
+    #     }
+    # },
 }
 possible_products = [
     'disk_part',
@@ -91,20 +91,20 @@ sensor_configs = {
     'quality_control': None,
 }
 default_sensors = {
-    'quality_control_sensor_1': {
-        'type': 'quality_control',
-        'pose': {
-            'xyz': [0.3, 3.5, 1.5],
-            'rpy': [0, 1.574, -1.574]
-        }
-    },
-    'quality_control_sensor_2': {
-        'type': 'quality_control',
-        'pose': {
-            'xyz': [0.3, -3.5, 1.5],
-            'rpy': [0, 1.574, 1.574]
-        }
-    },
+    # 'quality_control_sensor_1': {
+    #     'type': 'quality_control',
+    #     'pose': {
+    #         'xyz': [0.3, 3.5, 1.5],
+    #         'rpy': [0, 1.574, -1.574]
+    #     }
+    # },
+    # 'quality_control_sensor_2': {
+    #     'type': 'quality_control',
+    #     'pose': {
+    #         'xyz': [0.3, -3.5, 1.5],
+    #         'rpy': [0, 1.574, 1.574]
+    #     }
+    # },
 }
 default_belt_models = {
 }
@@ -530,7 +530,8 @@ def prepare_template_data(config_dict, args):
         'faulty_products': {},
         'drops': {},
         'orders': {},
-        'options': {'insert_agvs': True},
+        # 'options': {'insert_agvs': True},
+        'options': {'insert_agvs': False},
         'time_limit': default_time_limit,
         'bin_height': bin_height,
         'world_dir': world_dir,