From 182902aaa713ff5a817bf1615018b24046c39239 Mon Sep 17 00:00:00 2001 From: czyapp Date: Sat, 15 Jul 2017 12:08:41 +1000 Subject: [PATCH 1/3] Fixes #13 for 5cm map only The map now matches in stage and RVIZ for move_base_fake_localization_5cm. I will look into the 2.5cm and 10cm maps when I have time. --- navigation_stage/stage_config/worlds/willow-pr2-5cm.world | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/navigation_stage/stage_config/worlds/willow-pr2-5cm.world b/navigation_stage/stage_config/worlds/willow-pr2-5cm.world index 37b3006..e98437d 100644 --- a/navigation_stage/stage_config/worlds/willow-pr2-5cm.world +++ b/navigation_stage/stage_config/worlds/willow-pr2-5cm.world @@ -62,9 +62,9 @@ floorplan name "willow" bitmap "../maps/willow-full-0.05.pgm" size [58.25 47.25 1.0] - pose [ -23.625 29.125 0 90.000 ] + pose [ 29.125 23.625 0 0.000 ] ) # throw in a robot -pr2( pose [ -21.670 47.120 0 28.166 ] name "pr2" color "blue") -block( pose [ -24.269 48.001 0 180.000 ] color "red") +pr2( pose [ 10.47 25.52 0.0 0.0 ] name "pr2" color "blue") +block( pose [ 10.3 26.84 0 180.000 ] color "red") From 526581689923ba5a1cae6ede6eaa3fc9dd67f5e8 Mon Sep 17 00:00:00 2001 From: czyapp Date: Sat, 15 Jul 2017 12:19:02 +1000 Subject: [PATCH 2/3] Fixes #13 for 2.5cm map --- .../stage_config/worlds/willow-pr2-2.5cm.world | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world b/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world index 1e66bc9..c36701b 100644 --- a/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world +++ b/navigation_stage/stage_config/worlds/willow-pr2-2.5cm.world @@ -62,9 +62,10 @@ floorplan name "willow" bitmap "../maps/willow-full-0.025.pgm" size [58.300 45.625 1.000] - pose [ -22.812 29.150 0 90.000 ] + pose [ 29.15 22.812 0 0.000 ] ) # throw in a robot -pr2( pose [ -26.068 12.140 0 87.363 ] name "pr2" color "blue") -block( pose [ -25.251 10.586 0 180.000 ] color "red") +pr2( pose [ 18.67 9.79 0.0 90.0 ] name "pr2" color "blue") +block( pose [ 18.71 12.62 0 180.000 ] color "red") + From 559a33ac5327696ffe5db120489edf3033f75538 Mon Sep 17 00:00:00 2001 From: czyapp Date: Sat, 15 Jul 2017 12:22:05 +1000 Subject: [PATCH 3/3] Fixes #13 for 10cm --- navigation_stage/stage_config/worlds/willow-pr2.world | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/navigation_stage/stage_config/worlds/willow-pr2.world b/navigation_stage/stage_config/worlds/willow-pr2.world index 48c29e8..6106512 100644 --- a/navigation_stage/stage_config/worlds/willow-pr2.world +++ b/navigation_stage/stage_config/worlds/willow-pr2.world @@ -62,9 +62,9 @@ floorplan name "willow" bitmap "../maps/willow-full.pgm" size [58.4 52.6 0.5] - pose [ -26.300 29.200 0 90.000 ] + pose [ 29.200 26.300 0 0.000 ] ) # throw in a robot -pr2( pose [ -26.068 12.140 0 87.363 ] name "pr2" color "blue") -block( pose [ -25.251 10.586 0 180.000 ] color "red") +pr2( pose [ 18.67 12.62 0.0 90.0 ] name "pr2" color "blue") +block( pose [ 18.71 16.0 0 180.000 ] color "red")