From 2b711a898f83e1fa456d9527dc46ca2f28dce84d Mon Sep 17 00:00:00 2001
From: Sebastian Pape <pape@vr.rwth-aachen.de>
Date: Mon, 14 Aug 2023 10:56:38 +0200
Subject: [PATCH] Adding evaluation configs
---
public/configs/evaluation/config.json | 18 ++++++++
public/configs/evaluation/robots/crawler.json | 42 +++++++++++++++++++
2 files changed, 60 insertions(+)
create mode 100644 public/configs/evaluation/config.json
create mode 100644 public/configs/evaluation/robots/crawler.json
diff --git a/public/configs/evaluation/config.json b/public/configs/evaluation/config.json
new file mode 100644
index 0000000..8a3dcfe
--- /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 0000000..ddf0e98
--- /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
--
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