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EricssonResearch / scott-eu

SCOTT – Secure Connected Trustable Things
https://scottproject.eu/uc04-logistics-management-using-collaborative-robots-and-devops-methodologies/
Apache License 2.0
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test new scene with ros #140

Closed KRaizer closed 3 years ago

KRaizer commented 5 years ago

@jramadeu and @albertohata

I've create this branch with the new "git friendlier" scene: https://github.com/EricssonResearch/scott-eu/tree/vrep_git_friendlier/simulation-ros/src/turtlebot2i/turtlebot2i_description/v-rep_model/warehouse_scene

We need to test its connection with ROS

jramadeu commented 5 years ago

Hi, the branch vrep_git_friendlier is tested and updated to reflect your last changes @KRaizer and I erased the branch /oring/vrep_git_firendlier.

Testing the scene I notice that I'm not able to disable the cameras using sim.setExplicitHandling(object_camera_rgb, 1) -- disable camera rgb sim.setExplicitHandling(object_camera_depth, 1) -- disable camera depth

These lines are supposed to disable the camera, am I right?

KRaizer commented 5 years ago

Hi @jramadeu I'm not sure how setting to explicit handling alone would disable the vision sensor.

What the code was attempting to do was to use it as a flag to know whether or not to publish rgb and depth info to ROS. I had to change the code in sensing to actually do that though.

Important: Each robot has two separate cameras: "camera" and "camera_sr300". You have to enable/disable them individually at "camera.lua" and "camera_sr300.lua" respectively.

@albertohata and @jramadeu , what do we actually want here? Being able to fully disable the vision sensors? Or keep them enabled but handled explicitly?

albertohata commented 5 years ago

Hi @jramadeu I'm not sure how setting to explicit handling alone would disable the vision sensor.

What the code was attempting to do was to use it as a flag to know whether or not to publish rgb and depth info to ROS. I had to change the code in sensing to actually do that though.

Important: Each robot has two separate cameras: "camera" and "camera_sr300". You have to enable/disable them individually at "camera.lua" and "camera_sr300.lua" respectively.

@albertohata and @jramadeu , what do we actually want here? Being able to fully disable the vision sensors? Or keep them enabled but handled explicitly?

@KRaizer the setExplicitHandling function was used to disable the sensor as mentioned in http://www.forum.coppeliarobotics.com/viewtopic.php?t=2795

berezovskyi commented 3 years ago

Closing as wontfix; the project is finished and the repository is to be archived.