updated configs, enaabled collisions

ctu-mrs · Apr 12, 2024 · fb3f65e · fb3f65e
1 parent 4dbb08b
commit fb3f65e
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Showing 3 changed files with 20 additions and 28 deletions.
diff --git a/src/unreal_simulator.cpp b/src/unreal_simulator.cpp
@@ -1115,11 +1115,11 @@ void UnrealSimulator::updateUnrealPoses(void) {
 
       const auto [res, teleportedTo, rotatedTo, isHit, impactPoint] = ueds_connectors_[i]->SetLocationAndRotation(pos, rot);
 
-      /* if (isHit) { */
-      /*   if (!uavs_[i]->hasCrashed()) { */
-      /*     uavs_[i]->crash(); */
-      /*   } */
-      /* } */
+      if (isHit) {
+        if (!uavs_[i]->hasCrashed()) {
+          uavs_[i]->crash();
+        }
+      }
     }
   }
 }

diff --git a/tmux/one_drone/config/octomap_planner.yaml b/tmux/one_drone/config/octomap_planner.yaml
@@ -3,4 +3,4 @@ euclidean_distance_cutoff: 1.2 # [m]
 max_altitude: 5.0 # [m]
 
 subt_planner:
-  use: false
+  use: true
diff --git a/tmux/one_drone/rviz.rviz b/tmux/one_drone/rviz.rviz
@@ -7,7 +7,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
       Splitter Ratio: 0.6970587968826294
-    Tree Height: 140
+    Tree Height: 382
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -221,15 +221,15 @@ Visualization Manager:
           Marker Topic: /uav1/control_manager/safety_area_markers
           Name: SafetyhArea
           Namespaces:
-            "": true
+            {}
           Queue Size: 100
           Value: true
         - Class: rviz/MarkerArray
           Enabled: true
           Marker Topic: /uav1/control_manager/safety_area_coordinates_markers
           Name: SafetyAreaCoordinates
           Namespaces:
-            "": true
+            {}
           Queue Size: 100
           Value: true
         - Class: rviz/MarkerArray
@@ -469,8 +469,8 @@ Visualization Manager:
     - Alpha: 1
       Autocompute Intensity Bounds: true
       Autocompute Value Bounds:
-        Max Value: -0.9305406808853149
-        Min Value: -1.4244028329849243
+        Max Value: 4.316592693328857
+        Min Value: -1.061531662940979
         Value: true
       Axis: Z
       Channel Name: intensity
@@ -494,26 +494,18 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
-    - Class: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: /uav1/octomap_global_vis/occupied_cells_vis_array_throttled
-      Name: occupied cells
-      Namespaces:
-        map: true
-      Queue Size: 100
-      Value: true
     - Class: rviz/MarkerArray
       Enabled: false
-      Marker Topic: /uav1/octomap_global_vis/free_cells_vis_array_throttled
-      Name: free cells
+      Marker Topic: /uav1/octomap_global_vis/occupied_cells_vis_array_throttled
+      Name: global_map
       Namespaces:
         {}
       Queue Size: 100
       Value: false
     - Class: rviz/MarkerArray
       Enabled: true
       Marker Topic: /uav1/octomap_local_vis/occupied_cells_vis_array
-      Name: MarkerArray
+      Name: local_map
       Namespaces:
         map: true
       Queue Size: 100
@@ -559,7 +551,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 18.41521644592285
+      Distance: 34.782073974609375
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -575,19 +567,19 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44039878249168396
+      Pitch: 0.5953987836837769
       Target Frame: uav1/fcu
-      Yaw: 2.7004384994506836
+      Yaw: 4.810438632965088
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 719
+  Height: 1483
   Hide Left Dock: false
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000002bc00000279fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000000c7000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000108000001ac0000001600fffffffb0000001400760069006f005f00630061006d00650072006100000001400000009f0000000000000000fb0000000a0049006d0061006700650100000196000000fd00000000000000000000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035c00fffffffb0000000800540069006d00650100000000000004500000000000000000000002320000027900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000002bc00000575fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000001b9000000c700fffffffb0000001400760069006f005f00630061006d0065007200610000000122000000bd0000001600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001fa000003b60000001600fffffffb0000001400760069006f005f00630061006d00650072006100000001400000009f0000000000000000fb0000000a0049006d0061006700650100000196000000fd00000000000000000000000100000116000001a4fc0200000004fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000003b000000e40000005c00fffffffb0000000a005600690065007700730000000125000000ba000000a000fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073000000016d0000016e0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000038f0000003efc0100000002fb0000000800540069006d006500000000000000038f0000035c00fffffffb0000000800540069006d00650100000000000004500000000000000000000007320000057500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -596,7 +588,7 @@ Window Geometry:
     collapsed: true
   Views:
     collapsed: true
-  Width: 1268
+  Width: 2548
   X: 0
   Y: 0
   vio_camera: