From 3ca822e730a279dd5e8ad7d0e8aa0c3b85873d30 Mon Sep 17 00:00:00 2001
From: KahnShi <shifan@jsk.imi.i.u-tokyo.ac.jp>
Date: Sun, 23 Apr 2017 18:16:19 +0900
Subject: [PATCH] Add "collision" as new arg, means whether to add collision
 into simulation for obstacle-avoidance test.

---
 README.md                                                | 3 ++-
 .../launch/forest_simulation.launch                      | 9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index ec0ebd6..331e646 100644
--- a/README.md
+++ b/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
 ```
 
 
diff --git a/jsk_uav_forest_simulation/launch/forest_simulation.launch b/jsk_uav_forest_simulation/launch/forest_simulation.launch
index 318b221..416b577 100644
--- a/jsk_uav_forest_simulation/launch/forest_simulation.launch
+++ b/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)"/>