obstacles_fixes Namespace Reference

Classes
class	FixedObstacles

Functions
def	main (args=None)

Variables
tuple	FIXED_HUMANS
string	PERSON_SDF

Detailed Description

Spawn the hospital's permanent humans and expose all people on one topic.

The moving scenario publishes its people on ``/scenario_people_positions``.
This node adds the permanent humans below and republishes the combined list on
``/people_positions`` so the dynamic map continues to consume a single topic.

Function Documentation

main()

def obstacles_fixes.main

(

args = None

)

Variable Documentation

FIXED_HUMANS

tuple obstacles_fixes.FIXED_HUMANS

Initial value:

=  (
    ("fixed_human_1", -1.31, -11.611, -0.0014326),
    ("fixed_human_2", 1.16, -11.41, -0.00143),
    ("fixed_human_3", -2.76, -10.67, -0.00143),
    ("fixed_human_4", 2.6379, -10.7022, -0.00143),
    ("fixed_human_5", 11.0741, 2.2342, -0.00143),
    ("fixed_human_6", 9.27, 1.92, -0.00143),
    ("fixed_human_7", 8.68, -1.32, -0.00143),
)

PERSON_SDF

string obstacles_fixes.PERSON_SDF

Initial value:

=  """<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="{name}">
    <static>true</static>
    <link name="body">
      <gravity>false</gravity>
      <visual name="visual">
        <geometry>
          <mesh>
            <uri>model://Scrubs/meshes/scrubs.obj</uri>
          </mesh>
        </geometry>
      </visual>
      <collision name="collision">
        <geometry>
          <mesh>
            <uri>model://Scrubs/meshes/Scrubs_Col.obj</uri>
          </mesh>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>"""