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Missing files for cic_tables scenario #39

Closed AmosSmith3 closed 1 year ago

AmosSmith3 commented 1 year ago

When running demo_sim.launch with world and world_config arguments respectively set to pbr_cic and cic_tables (as detailed in the argument documentation), an error (no such file or directory) occurs as the tables_demo_bringup/launch/includes/navigation/cic_tables.launch file does not exist.

I created a launch file based on others in the /includes/navigation directory, but something still does not seem correct - the number of tables (4 tables) in the planning scene does not match the resulting gazebo world (2 tables). Perhaps the configurations for this scenario need to be refactored?

mintar commented 1 year ago

I fixed it in 0b35e1f.

Also requires https://github.com/DFKI-NI/mobipick/commit/f451ca7b.

Test like this:

roslaunch tables_demo_bringup demo_sim.launch world:=pbr_cic world_config:=cic_tables robot_x:=20.40 robot_y:=15.20

You are right, the Gazebo world currently only has 2 of the 4 tables, so perhaps we should add the two missing ones from the map.