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utexas-bwi / bwi

ROS packages for building wide intelligence project, University of Texas at Austin
http://wiki.ros.org/bwi
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Adds support for non-gazebo simulators #60

Closed maxsvetlik closed 4 years ago

maxsvetlik commented 4 years ago

This PR introduces a method to handle bringing up the BWI navigation stack in simulation without relying on Gazebo.

The existing method of bringing up the simulator retains expected behavior, i.e. by default running

 $ roslaunch bwi_launch simulation_v2.launch

will still bring up Gazebo sim and the BWI stack.

This is dependent on the following PRs: utexas-bwi/segbot#114, utexas-bwi/bwi_common#114

To run this code with the f1tenth simulator (which is the main target for this PR) the feature branches of each of those repositories should be checked out.

maxsvetlik commented 4 years ago

Not ready to be merged, just creating PR for X-reference purposes

maxsvetlik commented 4 years ago

@YuqianJiang I've cleaned up the maps for the f1tenth sim and tested them to make sure origins/resolutions didn't change that would interfere with navigation.

Do you have any problems with any of the 3 PRs that would merge support for non-gazebo simulators? If not, I'll merge them.