Combine all circuit launch files

[adlarkin]

I have combined the following circuit launch files into a single file named competition.ign:

• cave_circuit.ign
• tunnel_circuit_practice.ign
• urban_circuit.ign
• competition.ign

This new change has introduced a new parameter, circuit, that must be defined when running ign launch. circuit must be either cave, tunnel, or urban. Here are some example commands:

1. run a cave circuit world:

ign launch competition.ign circuit:=cave worldName:=simple_cave_01 robotName1:=X2_3 robotConfig1:=X2_SENSOR_CONFIG_3

2. run a tunnel circuit world:

ign launch competition.ign circuit:=tunnel worldName:=tunnel_circuit_practice_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1

3. run an urban circuit world:

ign launch competition.ign circuit:=urban worldName:=urban_qual robotName1:=HUSKY robotConfig1:=COSTAR_HUSKY_SENSOR_CONFIG_1

---

TODO update wiki/READMEs anywhere that are affected by this change?

Signed-off-by: Ashton Larkin ashton@openrobotics.org

[osrf-jenkins]

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[osrf-jenkins]

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[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[nkoenig]

The wiki has been updated.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[osrf-jenkins]

Build finished. 15 tests run, 0 skipped, 0 failed.

[peci1]

What about adding some autodetection based on world name? I.e. if "cave" in worldName: circuit = "cave" (that's Python syntax, as I don't know Ruby). It'd work for most of the provided worlds, and for those where not (i.e. custom worlds), the user would have to supply it.

[zbynekwinkler]

What about adding some autodetection based on world name?

That is what we do in our scripts. I honestly don't even understand why there is such a distinction.

[peci1]

It sets parameters of the comms model and staging area spawn positions:

subt/subt_ign/launch/competition.ign

Lines 70 to 92 in 8f5187b

	$commsFadingExponent = 2.5
	$commsScalingFactor = 1.0
	$commsRangePerHop = 2.0
	if $circuit == "cave"
	$commsFadingExponent = 1.5
	$commsScalingFactor = 0.55
	$commsRangePerHop = 2.0
	end
	# spawn world offset
	if $circuit == "urban"
	spawnWorldXPos = 6
	spawnWorldYPos = 27
	spawnWorldZPos = 7.5
	spawnWorldYaw = 0
	guiCameraPose = "-2.0 27 15 0 0.868 0"
	else
	spawnWorldXPos = 0
	spawnWorldYPos = 0
	spawnWorldZPos = 0
	spawnWorldYaw = 0
	guiCameraPose = "-6.3 -4.2 3.6 0 0.268 0.304"
	end

[zbynekwinkler]

But that is the property of the world, right? So why is it set from the outside? The same goes for the spawn positions.