Update for the SmartMDSD Toolchain v3.11 (#1)

* update Systems using the SmartMDSD Toolchain v3.11
Servicerobotics-Ulm · Dec 2, 2019 · 4f82341 · 4f82341
1 parent b6efbfa
commit 4f82341
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Showing 27 changed files with 507 additions and 555 deletions.
diff --git a/...aringGamppingHokuyoVsRealSense/model/SystemComparingGamppingHokuyoVsRealSense.systemParam b/...aringGamppingHokuyoVsRealSense/model/SystemComparingGamppingHokuyoVsRealSense.systemParam
@@ -56,4 +56,17 @@ ComponentParameterInstance ComponentRealSenseV2Server refinesParamStruct Compone
 	}
 
 }
- }
+
+ComponentParameterInstance ComponentLaserFromRGBDServer refinesParamStruct ComponentLaserFromRGBDServerParams {
+	ParameterRefinement laser_generator {
+		min_range = 280
+			max_range = 10000
+			vertical_fov = 0.0
+			rgbd_source = 0
+			angle_resolution = 0.5
+			generationPeriodSec = 0
+			generationPeriodMilliSec = 66
+			floor_threshold_distance = 0.05
+	}
+}
+ }
diff --git a/...agoGazeboSimulator/datasheet-gen/SystemLaserObstacleAvoidTiagoGazeboSimulator.skills.json b/...agoGazeboSimulator/datasheet-gen/SystemLaserObstacleAvoidTiagoGazeboSimulator.skills.json
@@ -1 +1,33 @@
 
+[
+{"skill" :
+	{ 
+		"name" : "getBasePose",
+		"skill-definition-fqn" : "CommNavigationObjects.MobileBaseModule.getBasePose",
+		"in-attribute" : {
+		},
+		"out-attribute" : {
+			"x" : "Double",
+			"y" : "Double",
+			"yaw" : "Double"
+		},
+		"results" : [ 
+			{ "result" : "SUCCESS", "result-value" : "OK" }
+		]
+	}
+},
+{"skill" :
+	{ 
+		"name" : "getBaseCharging",
+		"skill-definition-fqn" : "CommNavigationObjects.MobileBaseModule.getBaseCharging",
+		"in-attribute" : {
+		},
+		"out-attribute" : {
+			"charging" : "Bool"
+		},
+		"results" : [ 
+			{ "result" : "SUCCESS", "result-value" : "OK" }
+		]
+	}
+}
+]
diff --git a/...rObstacleAvoidTiagoGazeboSimulator/smartsoft/src/startstop-hooks-SmartGazeboBaseServer.sh b/...rObstacleAvoidTiagoGazeboSimulator/smartsoft/src/startstop-hooks-SmartGazeboBaseServer.sh
@@ -33,6 +33,8 @@ pre-start)
 
 	# ...then call user/deployment specific hook:
 	echo "Triggering pre-start hooks ..."
+
+	bash $SMART_ROOT_ACE/repos/DataRepository/gazebo/startGazebo.sh worlds/tiagoOffice_nav.world
 ;;
 
 post-start)
@@ -57,6 +59,9 @@ post-stop)
 
 	# ...then call user/deployment specific hook:
 	echo "Triggering post-stop hooks ..."
+
+	killall gzserver
+	killall gzclient
 ;;
 
 *)

diff --git a/SystemRobotinoNavigation/representations.aird b/SystemRobotinoNavigation/representations.aird
@@ -62,6 +62,9 @@
     <semanticResources>platform:/resource/SmartJoystickNavigation/model/SmartJoystickNavigation.componentParameters</semanticResources>
     <semanticResources>platform:/resource/SmartAmcl/model/SmartAmcl.skillRealization</semanticResources>
     <semanticResources>platform:/resource/CommTrackingObjects/model/CommTrackingObjects.modes</semanticResources>
+    <semanticResources>platform:/resource/CommRobotinoObjects/model/CommRobotinoObjects.modes</semanticResources>
+    <semanticResources>platform:/resource/CommRobotinoObjects/model/CommRobotinoObjects.parameters</semanticResources>
+    <semanticResources>platform:/resource/DomainVision/model/DomainVision.skills</semanticResources>
     <ownedViews xmi:type="viewpoint:DView" uid="__HbQ4DwxEem2Qq_fEgOqlw">
       <viewpoint xmi:type="description:Viewpoint" href="platform:/plugin/org.sirius.system.componentArchitecture.design/description/componentArchitecture.odesign#//@ownedViewpoints[name='SystemArchitectureViewpoint']"/>
       <ownedRepresentationDescriptors xmi:type="viewpoint:DRepresentationDescriptor" uid="__OgwUDwxEem2Qq_fEgOqlw" name="SystemRobotinoNavigationComponentArchitecture" repPath="#__Oe7IDwxEem2Qq_fEgOqlw">

diff --git a/...Server1_data/CDLacc_Robotino3Cell25mm.dat → ...lServer_data/CDLacc_Robotino3Cell25mm.dat b/...Server1_data/CDLacc_Robotino3Cell25mm.dat → ...lServer_data/CDLacc_Robotino3Cell25mm.dat
diff --git a/...dlServer1_data/CDLacc_Robotino3_600mm.dat → ...CdlServer_data/CDLacc_Robotino3_600mm.dat b/...dlServer1_data/CDLacc_Robotino3_600mm.dat → ...CdlServer_data/CDLacc_Robotino3_600mm.dat
diff --git a/...er1_data/CDLcontour_Robotino3Cell25mm.dat → ...ver_data/CDLcontour_Robotino3Cell25mm.dat b/...er1_data/CDLcontour_Robotino3Cell25mm.dat → ...ver_data/CDLcontour_Robotino3Cell25mm.dat
diff --git a/...rver1_data/CDLcontour_Robotino3_600mm.dat → ...erver_data/CDLcontour_Robotino3_600mm.dat b/...rver1_data/CDLcontour_Robotino3_600mm.dat → ...erver_data/CDLcontour_Robotino3_600mm.dat
diff --git a/.../CDLdist_Robotino3Cell25mm.dat.compressed → .../CDLdist_Robotino3Cell25mm.dat.compressed b/.../CDLdist_Robotino3Cell25mm.dat.compressed → .../CDLdist_Robotino3Cell25mm.dat.compressed
diff --git a/...ta/CDLdist_Robotino3_600mm.dat.compressed → ...ta/CDLdist_Robotino3_600mm.dat.compressed b/...ta/CDLdist_Robotino3_600mm.dat.compressed → ...ta/CDLdist_Robotino3_600mm.dat.compressed
diff --git a/...rver1_data/CDLindex_Robotino3Cell25mm.dat → ...erver_data/CDLindex_Robotino3Cell25mm.dat b/...rver1_data/CDLindex_Robotino3Cell25mm.dat → ...erver_data/CDLindex_Robotino3Cell25mm.dat
diff --git a/...Server1_data/CDLindex_Robotino3_600mm.dat → ...lServer_data/CDLindex_Robotino3_600mm.dat b/...Server1_data/CDLindex_Robotino3_600mm.dat → ...lServer_data/CDLindex_Robotino3_600mm.dat
diff --git a/SystemTiagoNavigation/model/SystemTiagoNavigation.componentArch b/SystemTiagoNavigation/model/SystemTiagoNavigation.componentArch
@@ -29,6 +29,7 @@ SystemComponentArchitecture SystemTiagoNavigation usingActivityArchitecture Syst
 	{
 		RequiredService LaserServiceIn // { connectTo GazeboBaseServer.LaserServiceOut }
 		ProvidedService CurrMapOut
+	ParameterStructInstance SystemTiagoNavigation.SmartMapperGridMap
 	}
 	ComponentInstance SmartPlannerBreadthFirstSearch instantiates SmartPlannerBreadthFirstSearch
 	{
@@ -94,4 +95,4 @@ SystemComponentArchitecture SystemTiagoNavigation usingActivityArchitecture Syst
 	}
 
 
-}
+}
diff --git a/SystemTiagoNavigation/model/SystemTiagoNavigation.systemParam b/SystemTiagoNavigation/model/SystemTiagoNavigation.systemParam
@@ -23,4 +23,9 @@ SystemParameterModel SystemTiagoNavigation extendsSystem SystemTiagoNavigation {
 			freeBehaviorDist_second = 350.0
 		}
 	}
-}
+ComponentParameterInstance SmartMapperGridMap refinesParamStruct SmartMapperGridMapParams {
+	ParameterRefinement CurrentMap {
+		growing = "star32"
+	}
+} }
+
diff --git a/SystemTiagoNavigation/model/SystemTiagoNavigationDeployment.jpg b/SystemTiagoNavigation/model/SystemTiagoNavigationDeployment.jpg
diff --git a/SystemTiagoNavigation/model/SystemTiagoNavigationSystemArchitecture.jpg b/SystemTiagoNavigation/model/SystemTiagoNavigationSystemArchitecture.jpg
diff --git a/SystemTiagoNavigation/model/SystemTiagoNavigationTargetPlatform.jpg b/SystemTiagoNavigation/model/SystemTiagoNavigationTargetPlatform.jpg
diff --git a/SystemTiagoNavigation/representations.aird b/SystemTiagoNavigation/representations.aird
diff --git a/SystemTiagoNavigation/smartsoft/src/predeploy-GazeboBaseServer.sh b/SystemTiagoNavigation/smartsoft/src/predeploy-GazeboBaseServer.sh
diff --git a/SystemTiagoNavigation/smartsoft/src/predeploy-MapperGridMap.sh b/SystemTiagoNavigation/smartsoft/src/predeploy-MapperGridMap.sh
diff --git a/SystemTiagoNavigation/smartsoft/src/predeploy-Planner.sh b/SystemTiagoNavigation/smartsoft/src/predeploy-Planner.sh
diff --git a/SystemTiagoNavigation/smartsoft/src/predeploy-RobotConsole.sh b/SystemTiagoNavigation/smartsoft/src/predeploy-RobotConsole.sh
diff --git a/SystemTiagoNavigation/smartsoft/src/startstop-hooks-GazeboBaseServer.sh b/SystemTiagoNavigation/smartsoft/src/startstop-hooks-GazeboBaseServer.sh