Feat/320 adding opponent cars #322
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NicoBartholomai
assigned Daniel-Martin576 and dsiegler2000 and unassigned Daniel-Martin576 and dsiegler2000
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Can you update this branch so that the file changed is only the ones you actually touched? Just merge master and re-push pretty much |
Daniel-Martin576
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Feb 13, 2021
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Fixes issue #320
Adds multiple cars to the track when launching evgp_with_opponent.launch.
Added two new spawning nodes for two extra cars, as well as created three new csv files that determine their path.
Also created 5 new opponent cars in rr_description/urdf/opponents that each have their own color, as well as unique collision bit-masks so that the opponent cars cannot run into each other and lag out.
Adds two new parameters to util/rosbag_to_trajectory_csv.py which adds the functionality to give the kart a starting position other than 0, 0 when creating a path csv from a bag file, since ros does not track what the initial gazebo coordinates are.
Tested by running 'roslaunch rr_gazebo evgp_with_opponent.launch' immediately followed by "roslaunch rr_evgp evgp_planning_demo.launch" and then saw the three cars spawned and moved around the track.
Video of the test run can be found here