forked from xtdrone/XTDrone
35 lines
1.5 KiB
XML
35 lines
1.5 KiB
XML
<?xml version="1.0"?>
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<world xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="perception" params="**model_includes
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**object_sequence
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namespace:=wamv
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competition:=vrx">
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<xacro:insert_block name="model_includes"/>"
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<plugin filename="libperception_scoring_plugin.so"
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name="perception_scoring_plugin">
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<!-- Parameters for ScoringPlugin base class -->
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<vehicle>${namespace}</vehicle>
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<task_name>perception</task_name>
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<initial_state_duration>10.0</initial_state_duration>
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<ready_state_duration>10.0</ready_state_duration>
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<running_state_duration>300</running_state_duration>
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<task_info_topic>/${competition}/task/info</task_info_topic>
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<contact_debug_topic>/${competition}/debug/contact</contact_debug_topic>
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<landmark_topic>/${competition}/perception/landmark</landmark_topic>
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<per_plugin_exit_on_completion>true</per_plugin_exit_on_completion>
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<!-- Parameters for PopulationPlugin -->
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<loop_forever>false</loop_forever>
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<frame>${namespace}</frame>
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<!-- Pose of each object is expressed relative to the body frame
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of the object named in the frame field - i.e., relative to
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the wam-v-->
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<object_sequence>
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<xacro:insert_block name="object_sequence"/>
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</object_sequence>
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</plugin>
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</xacro:macro>
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</world>
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