Feature payload spawner #350
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…ake it separable from rack targets
…ner blueprint and surrounding changes
…rade spawner to statically export target/payload coordinates
…sset): rename files to match repo standards
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Does tags mean targetpoint?
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yes, I updated the comment to make it clearer:
"Get only the TargetPoints on the rack shelfs"
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you are saving display name? is it bettert to save name?
actors has both display name and name and display name is appear only in editor mode. it should be no problem to use for now but it maybe better to save both or just name
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Sorry I didn't know this
I updated all the important usage of GetDisplayName to GetObjectName, like the picture below:
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better not to use GWM which is RR internal terminology
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Updated the comment:
"Add Spawned Targets infomation to a JSON file, in order to export it to external applications"
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This is the solution I found for efficiently identifying and separating the TargetPoints that are created for the rack shelves from the ones that are created in front of the racks. In the construction script of the RackUnit.uasset, I changed the TargetPoint to BP_TargetPointGround (in the pic):
For the TargetPoints on the rack shelves:
For the approach spots:
Alternatively, I think it would be possible to filter by distance from the center of each rack, which could add a lot of extra complexity, or filter by z coordinate, but could also lead to some edge cases
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is this same as BP_PayloadSpawner?
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It's the same, I forgot to remove after renaming
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is this same as TargetPointGround?
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It's the same, I forgot to remove after renaming
Updates:
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Sorry to bother, but do we still need this? This PR is open it's been 6 months.. |
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Payload Spawner Blueprint
Overview
This feature introduces a new blueprint class, which is responsible for managing payload attached to a mobile rack.
Available features:
The object manages the spawning and removal of payload to simulate more realistic scenarios in the usage of mobile racks.
It determines where to spawn each payload based on the targets the mobile rack creates.
In each of these spots, the PayloadSpawner randomly chooses if it spawns or not a specified payload, (default 0.5, or 50%).
Parameters
The object is invisible, but has the following parameters:
SpawnProbability:
displacement_x:
displacement_y:
displacement_yaw:
use_random_noise:
Random displacement x:
Random displacement y:
Random displacement yaw:
ROS Integration
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Calling from topic
Calling from service: still not working
Exporting coordinates to external systems:
The PayloadSpawner plugin supports the exporting of
jsonfile with all the mobile racks target points coordinates, as well as the coordinates of all spawned payload objects.Currently this real-time output is still not supported, and may be a future improvement
Documentation:
Still in progress...
Known issues:
If the coordinates or the dimensions of the mobile rack which the payload is attached change, the payload may not work as expected, requiring recompilation of the Blueprint ( the reason is under analysis)