small changes in readme

README.md

@@ -1,11 +1,6 @@
 # Arena Rosnav Task Generator
 
-This is the task generator package designed to work with:
-
-- [arena-rosnav](https://github.com/Arena-Rosnav/arena-rosnav)
-- [arena-rosnav-3d]()
-
-The task generator is especially designed for single robot simulations.
+This is the task generator package designed to work with the [Arena Benchmark](https://github.com/Arena-Rosnav/arena-rosnav) infrastructure.
 
 ## Task Modes
 

robot_setup/marl_map_empty.yaml

@@ -3,13 +3,13 @@ robots:
   #   planner: rosnav
   #   amount: 6
   #   agent: rto_tlabs_marl
-  - model: agvota
+  - model: jackal
     planner: teb
-    amount: 1
+    amount: 6
     agent: new_jackal
-  - model: burger
+  - model: rto
     planner: teb
-    amount: 1
+    amount: 6
     agent: new_jackal
   # - model: cob4
   #   planner: teb

task_generator/constants.py

@@ -30,10 +30,10 @@ class TaskMode:
     SCENARIO = "scenario"
 
     class Random:
-        MIN_DYNAMIC_OBS = 1
-        MAX_DYNAMIC_OBS = 3
-        MIN_STATIC_OBS = 1
-        MAX_STATIC_OBS = 3
+        MIN_DYNAMIC_OBS = 10
+        MAX_DYNAMIC_OBS = 15
+        MIN_STATIC_OBS = 10
+        MAX_STATIC_OBS = 15
 
     class Scenario:
         RESETS_DEFAULT = 5

task_generator/manager/robot_manager.py

@@ -38,7 +38,7 @@ def __init__(self, namespace, map_manager, environment, robot_setup):
 
         self.robot_setup = robot_setup
 
-    def set_up_robot(self, launch_robot_controller=True):
+    def set_up_robot(self):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             self.robot_radius = rospy.get_param("robot_radius")
 
@@ -56,9 +56,6 @@ def set_up_robot(self, launch_robot_controller=True):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             return
 
-        if not launch_robot_controller:
-            return
-
         self.launch_robot(self.robot_setup)
 
         self.robot_radius = rospy.get_param(

task_generator/tasks/staged.py

@@ -141,10 +141,6 @@ def _reset_robot_and_obstacles(
             **kwargs
         )
 
-    def _set_up_robot_managers(self):
-        for manager in self.robot_managers:
-            manager.set_up_robot(launch_robot_controller=False)
-
     def _init_stage(self, stage):
         static_obstacles = self._stages[stage]["static"]
         dynamic_obstacles = self._stages[stage]["dynamic"]