Reset defaults to Rover-Sonar with fake lake data

itskalvik · Jul 31, 2024 · 30cbeae · 30cbeae
1 parent dc2eb71
commit 30cbeae
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/launch/single_robot.launch.py b/launch/single_robot.launch.py
@@ -9,13 +9,13 @@
 
 def generate_launch_description():
  namespace = 'robot_0'
- data_type = 'Altitude'
+ data_type = 'Sonar'
  num_robots = 1
- num_waypoints = 10
+ num_waypoints = 20
  sampling_rate = 2
  geofence_plan = PathJoinSubstitution([FindPackageShare('ros_sgp_tools'),
  'launch',
- 'trail.plan'])
+ 'lake.plan'])
 
  return LaunchDescription([
  Node(
@@ -30,6 +30,13 @@ def generate_launch_description():
  }
  ]
  ),
+
+ Node(
+ package='ros_sgp_tools',
+ executable='lake_depth_publisher.py',
+ name='FakeSonarData',
+ namespace=namespace,
+ ),
 
  Node(
  package='ros_sgp_tools',

diff --git a/scripts/guided_mission.py b/scripts/guided_mission.py
@@ -309,7 +309,7 @@ def mission(self):
 def main(args=None):
  rclpy.init(args=args)
 
- mission_planner = MissionPlanner(use_altitude=True)
+ mission_planner = MissionPlanner(use_altitude=False)
  rclpy.spin_once(mission_planner)
  mission_planner.mission()
 

diff --git a/scripts/ipp_mission.py b/scripts/ipp_mission.py
@@ -90,7 +90,7 @@ def mission(self):
 
 def main(args=None):
  rclpy.init(args=args)
- mission_planner = IPPMissionPlanner(True)
+ mission_planner = IPPMissionPlanner()
  rclpy.spin_once(mission_planner)
 
 if __name__ == '__main__':