Add "collision" as new arg, means whether to add collision into simul…

…ation for obstacle-avoidance test.

README.md

@@ -45,9 +45,10 @@ $ rosservice call /task_start true
 
 ## how to activate plannar
 
+- arg plannar means whether to add motion planning, arg collision means whether to add obstacle which will cause collision into simulation.
 - When adding obstacles, remember not to block the view from drone to red tree:
 ```
-$ roslaunch jsk_uav_forest_simulation forest_simulation.launch plannar:=true
+$ roslaunch jsk_uav_forest_simulation forest_simulation.launch plannar:=true collision:=true
 ```
 
 

jsk_uav_forest_simulation/launch/forest_simulation.launch

@@ -10,15 +10,16 @@
   <arg name="rqt_gui" default="True" />
   <arg name="circle_motion_times" default="1" />
   <arg name="plannar" default="false" />
+  <arg name="collision" default="false" />
 
   <arg name="start_x" value="-8"/>
-  <arg name="start_y" value="0" unless="$(arg plannar)"/>
-  <arg name="start_y" value="-1" if="$(arg plannar)"/>
+  <arg name="start_y" value="0" unless="$(arg collision)"/>
+  <arg name="start_y" value="-1" if="$(arg collision)"/>
   <arg name="start_z" value="0.5"/>
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find jsk_uav_forest_simulation)/gazebo_model/world/forest.world" unless="$(arg plannar)" />
-    <arg name="world_name" value="$(find jsk_uav_forest_simulation)/gazebo_model/world/forest_collision.world" if="$(arg plannar)" />
+    <arg name="world_name" value="$(find jsk_uav_forest_simulation)/gazebo_model/world/forest.world" unless="$(arg collision)" />
+    <arg name="world_name" value="$(find jsk_uav_forest_simulation)/gazebo_model/world/forest_collision.world" if="$(arg collision)" />
     <arg name="debug" value="$(arg debug)"/>
     <arg name="gui" value="$(arg gui)" />
     <arg name="headless" default="$(arg headless)"/>