Working argos line of site in coms (#34)

NESTLab · Mar 3, 2022 · fafd1d8 · fafd1d8
1 parent b167779
commit fafd1d8
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Showing 4 changed files with 29 additions and 4 deletions.
diff --git a/Makefile b/Makefile
@@ -6,6 +6,10 @@ WORKDIR=$(shell dirname $(PATH_TO_MAKEFILE))
 install-state-machine:
 	pip install -e $(WORKDIR)/mdis_state_machine
 
+install: install-state-machine
+	$(SETUP); \
+	$(MAKE) -C $(WORKDIR)/coms install
+
 test-state-machine: test-state-machine-explorer test-state-machine-relay
 
 test-state-machine-explorer: install-state-machine
@@ -27,4 +31,25 @@ sim-gazebo:
 	roslaunch turtlebot3_gazebo multi_turtlebot3_all.launch
 
 check-health:
-	source $(WORKDIR)/health-check.sh
+	source $(WORKDIR)/health-check.sh
+
+argos-demo:
+	$(SETUP); \
+	argos3 -c $(WORKDIR)/coms/argos_bridge/argos_worlds/multi_robot_dan_maze.argos
+
+
+gazebo-net-sim:
+	$(SETUP); \
+	roslaunch example gazebo.launch
+
+argos-net-sim:
+	$(SETUP); \
+	roslaunch example argos.launch
+
+coms-net:
+	$(SETUP); \
+	roslaunch coms net.launch
+
+teleop-0:
+	$(SETUP); \
+	roslaunch turtlebot3_teleop demo.launch
diff --git a/coms b/coms
diff --git a/entrypoint.sh b/entrypoint.sh
@@ -20,7 +20,7 @@ esac
 python -m pip install -U pip
 
 # Install coms
-make -f /root/catkin_ws/src/coms/Makefile install-coms
+make -f /root/catkin_ws/src/Makefile install
 
 # Obtain ROS environment variables
 source /opt/ros/noetic/setup.bash

diff --git a/turtlebot3_simulations b/turtlebot3_simulations
+4 −2		.gitmodules
+24 −0		Makefile
+8 −2		README.md
+1 −1		argos_bridge
+6 −1		coms/coms.toml
+16 −2		coms/launch/net.launch
+0 −1		coms/requirements.txt
+29 −7		coms/scripts/net.py
+1 −1		coms/setup.cfg
+0 −1		coms/src/coms/constants.py
+2 −3		coms/src/coms/server.py
+7 −7		coms/src/coms/sim.py
+5 −8		coms/src/mapmerge/keypoint_merge.py
+56 −10		coms/src/mapmerge/merge_utils.py
+54 −0		coms/tests/test_consensus.py
+51 −1		coms/tests/test_mapmerge.py
+1 −1		coms/tests/test_ping.py
+1 −1		coms/tests/test_sim.py
+2 −2		coms/tests/test_utils.py
+5 −6		entrypoint.sh
+1 −1		ros-net-sim