diff --git a/public/configs/evaluation/config.json b/public/configs/evaluation/config.json new file mode 100644 index 0000000000000000000000000000000000000000..8a3dcfe8e23840332bc023da9b79648f5fb79da1 --- /dev/null +++ b/public/configs/evaluation/config.json @@ -0,0 +1,18 @@ +{ + "robots": [ + "./robots/crawler.json" + ], + "ship": { + "rosbridge": { + "uri": "wss://localhost/rosbridge" + }, + "topics": { + "streamed_mesh": "/mesh_publisher/get_mesh" + } + }, + "transformTree": { + "rosbridge": { + "uri": "wss://localhost/rosbridge" + } + } +} \ No newline at end of file diff --git a/public/configs/evaluation/robots/crawler.json b/public/configs/evaluation/robots/crawler.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf0e98538aa55074c22df579a63bc44b7523999 --- /dev/null +++ b/public/configs/evaluation/robots/crawler.json @@ -0,0 +1,42 @@ +{ + "rosbridge": { + "uri": "wss://localhost/rosbridge" + }, + "type": "SMV", + "name": "Crawler", + "topics": { + "pose": "", + "images": [ + { + "topic": "/IFM/color/image_raw/compressed", + "name": "Camera" + } + ] + }, + "mesh": { + "uri": "meshes/crawler/Altiscan.gltf", + "transform": { + "translation": [ + 0, + 0.06, + 0 + ], + "rotation": [ + 0, + -90, + 180 + ], + "scale": [ + 1, + 1, + 1 + ] + } + }, + "services": { + "prepareMission": "/mission_manager/prepare_missions", + "executeMission": "/mission_manager/execute_missions" + }, + "missionFrame": "world", + "poseFrame": "base_footprint" +} \ No newline at end of file