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Commit 1af78572 authored by Johannes Mey's avatar Johannes Mey
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add safety zones to gazebo

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config/mqtt.yaml
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panda_mqtt_connector: panda_mqtt_connector:
server: "tcp://localhost:1883" server: "tcp://localhost:1883"
safety_zone_spawner:
size: 0.5
zones:
- "1 1"
- "-1 -1 1"
\ No newline at end of file
launch/simulation_rosrag.launch
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View file @ 1af78572
...@@ -9,4 +9,5 @@ ...@@ -9,4 +9,5 @@
<node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/> <node name="TimedPlanner" pkg="panda_mqtt_connector" type="TimedPlanner" respawn="false" output="screen"/>
<node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/> <node name="MqttToRosNode" pkg="panda_mqtt_connector" type="MqttToRosNode" respawn="false" output="screen"/>
<node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/> <node name="RobotStateProvider" pkg="panda_mqtt_connector" type="RobotStateProvider" respawn="false" output="screen"/>
<node name="gazebo_zones" pkg="gazebo_zones" type="gazebo_zones" respawn="false" output="screen"/>
</launch> </launch>
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