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Publish ground truth data to /<name>/pose instead of /<name>/pose_static #760

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13 changes: 12 additions & 1 deletion submitted_models/cerberus_anymal_b_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
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13 changes: 12 additions & 1 deletion submitted_models/cerberus_anymal_b_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-joint-state-publisher-system.so"
name="ignition::gazebo::systems::JointStatePublisher">
</plugin>
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13 changes: 12 additions & 1 deletion submitted_models/cerberus_gagarin_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
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13 changes: 12 additions & 1 deletion submitted_models/cerberus_m100_sensor_config_1/launch/spawner.rb
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Expand Up @@ -42,11 +42,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
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13 changes: 12 additions & 1 deletion submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
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Expand Up @@ -32,11 +32,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
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13 changes: 12 additions & 1 deletion submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -32,11 +32,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
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15 changes: 13 additions & 2 deletions submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb
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Expand Up @@ -64,10 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_pose_publisher>true</static_pose_publisher>
<static_pose_update_frequency>1</static_pose_update_frequency>
<static_publisher>false</static_publisher>
</plugin>

<!-- Battery plugin -->
Expand Down
15 changes: 13 additions & 2 deletions submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb
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Expand Up @@ -64,10 +64,21 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_pose_publisher>true</static_pose_publisher>
<static_pose_update_frequency>1</static_pose_update_frequency>
<static_publisher>false</static_publisher>
</plugin>

<!-- Battery plugin -->
Expand Down
13 changes: 12 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb
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Expand Up @@ -104,11 +104,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
13 changes: 12 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -104,11 +104,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
13 changes: 12 additions & 1 deletion submitted_models/explorer_ds1_sensor_config_1/launch/spawner.rb
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Expand Up @@ -17,11 +17,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<plugin filename="libignition-gazebo-multicopter-motor-model-system.so"
name="ignition::gazebo::systems::MulticopterMotorModel">
<robotNamespace>model/#{_name}</robotNamespace>
Expand Down
13 changes: 12 additions & 1 deletion submitted_models/explorer_r2_sensor_config_1/launch/spawner.rb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,11 +32,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
17 changes: 14 additions & 3 deletions submitted_models/explorer_r2_sensor_config_2/launch/spawner.rb
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Expand Up @@ -22,8 +22,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-1.24</min_acceleration>
<max_acceleration>1.16</max_acceleration>
<min_acceleration>-1.24</min_acceleration>
<max_acceleration>1.16</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
Expand All @@ -32,11 +32,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<publish_nested_model_pose>false</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Publish ground truth information if specified by user -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>false</publish_link_pose>
<publish_sensor_pose>false</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>false</static_publisher>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
Expand Down
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