21 lines
1.5 KiB
Markdown
21 lines
1.5 KiB
Markdown
# Usage
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`ros2 launch ign_world gazebo_controller_launch.py scene:=` and one of the following scene types: `Coex`, `Coop` and `Colab` appended to the beforementioned command.
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Depending on your terminal configuration, adding the environment variable `DISPLAY=:0` may be required as a prefix to the command, as not all terminals load the predefined environment.
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# Build
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Building a package is handled by using the `build.sh` executable.
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Many IDE's require a `compile_commands.json` file to offer syntax highlighting, which will be output when using the script. This also includes a symlink, in case your IDE does not search for it in the build directory.
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Another addition of the script is the usage of `console_cohesion+` as event handler, which will format output by package, easing debugging in the noisy build output.
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# Packages
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package name|description
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`btree` | the executable for the behavior trees and the used xml files
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`controller_test` | a debugging tool for sending direct commands to the ros_control controller of the `iisy`
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`gz_ros2_control` | the git version of that package, as the one in the repos was too outdated
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`ign_actor_plugin` | the Gazebo Ignition plugin for controllable Actors
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`ign_world` | the world for the simulation
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`ros_actor_action_server` | second component of actor plugin, has to be started to enable control functionality
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`ros_actor_action_server_msgs` | ros_action messages used by the actor plugin server
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`ros_actor_message_queue_msgs` | internal messages of the actor plugin |