Merge branch 'main' into xiyu/fm_fix

open-rmf · Oct 14, 2024 · 1ff38bd · 1ff38bd
2 parents 73cd00f + 7229891
commit 1ff38bd
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Showing 9 changed files with 17 additions and 1 deletion.
diff --git a/rmf_demos_gz/launch/airport_terminal.launch.xml b/rmf_demos_gz/launch/airport_terminal.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/airport_terminal.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="airport_terminal" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/battle_royale.launch.xml b/rmf_demos_gz/launch/battle_royale.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
   <arg name="use_traffic_light" default="false"/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/battle_royale.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="battle_royale" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/campus.launch.xml b/rmf_demos_gz/launch/campus.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/campus.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="campus" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/clinic.launch.xml b/rmf_demos_gz/launch/clinic.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/clinic.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="clinic" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/hotel.launch.xml b/rmf_demos_gz/launch/hotel.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/hotel.launch.xml">
@@ -15,5 +16,6 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="hotel" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 </launch>
diff --git a/rmf_demos_gz/launch/office.launch.xml b/rmf_demos_gz/launch/office.launch.xml
@@ -4,6 +4,7 @@
   <arg name="use_sim_time" default="true"/>
   <arg name="failover_mode" default="false"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/office.launch.xml">
@@ -15,6 +16,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="office" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>
diff --git a/rmf_demos_gz/launch/office_mock_traffic_light.launch.xml b/rmf_demos_gz/launch/office_mock_traffic_light.launch.xml
@@ -3,6 +3,7 @@
 <launch>
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/office_mock_traffic_light.launch.xml">

diff --git a/rmf_demos_gz/launch/simulation.launch.xml b/rmf_demos_gz/launch/simulation.launch.xml
@@ -5,6 +5,7 @@
   <arg name="map_name" description="Name of the rmf_demos map to simulate" />
   <arg name="use_crowdsim" default='0'/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <let name="world_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/$(var map_name).world" />
   <let name="model_path" value="$(find-pkg-share $(var map_package))/maps/$(var map_name)/models:$(env HOME)/.gazebo/models" />
@@ -17,7 +18,7 @@
   <let name="gz_headless" unless="$(var headless)" value="" />
 
   <!-- TODO(luca) Remove the manual concatenation of GZ_SIM_RESOURCE_PATH and just use environment hooks -->
-  <executable cmd="gz sim --force-version $(var gazebo_version) $(var gz_headless) -r -v 3 $(var world_path)" output="both">
+  <executable cmd="gz sim --force-version $(var gazebo_version) $(var gz_headless) -r -v 3 $(var world_path) -z $(var sim_update_rate)" output="both">
     <env name="GZ_SIM_RESOURCE_PATH" value="$(env GZ_SIM_RESOURCE_PATH):$(var model_path)" />
     <env name="MENGE_RESOURCE_PATH" value="$(var menge_resource_path)"/>
   </executable>

diff --git a/rmf_demos_gz/launch/triple_H.launch.xml b/rmf_demos_gz/launch/triple_H.launch.xml
@@ -3,6 +3,7 @@
 <launch>
   <arg name="use_sim_time" default="true"/>
   <arg name="gazebo_version" default='8'/>
+  <arg name="sim_update_rate" default='100'/>
 
   <!-- Common launch -->
   <include file="$(find-pkg-share rmf_demos)/triple_H.launch.xml">
@@ -13,6 +14,7 @@
   <include file="$(find-pkg-share rmf_demos_gz)/simulation.launch.xml">
     <arg name="map_name" value="triple_H" />
     <arg name="gazebo_version" value="$(var gazebo_version)" />
+    <arg name="sim_update_rate" value="$(var sim_update_rate)"/>
   </include>
 
 </launch>