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Sim fine tune #112
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Sim fine tune #112
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7719453
added april tags, home world and fine tuned nav param for tight space…
jerinpeter 7848c60
Add simulation navigation parameters and update home_world sdf and ga…
jerinpeter 14a9a70
Update Nav params for real robot, cleanup world file, update launch f…
jerinpeter 48b9e7f
Integrate Nav2 stack with dynamic simulation parameter overrides for sim
jerinpeter a1aee62
Lint Fixes
jerinpeter 8653887
Add global costmap inflation parameters to navigation and SLAM launch…
jerinpeter 45d69b1
fix: remove orphaned m-explore-ros2 submodule reference
jerinpeter 97431d4
Param override (#113)
openminddev b2f6e70
Fix navigation launch typos, and remove unused nav2 sim parameters.
jerinpeter b7b144e
Fix lint
jerinpeter 04a87b1
Refactor battery monitor, and enhance low state simulation with dynam…
jerinpeter 280466c
Remove unnecessary comments from Go2 low state publisher and launch f…
jerinpeter fc887d2
remove mock battery publisher for Go2 Gazebo simulation and merged th…
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13 changes: 13 additions & 0 deletions
13
go2_gazebo_sim/go2_description/models/aruco_marker/model.config
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,13 @@ | ||
| <?xml version="1.0"?> | ||
| <model> | ||
| <name>aruco_marker</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <author> | ||
| <name>OpenMind</name> | ||
| <email>hello@openmind.com</email> | ||
| </author> | ||
| <description> | ||
| An ArUco marker for auto docking. | ||
| </description> | ||
| </model> |
32 changes: 32 additions & 0 deletions
32
go2_gazebo_sim/go2_description/models/aruco_marker/model.sdf
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="aruco_marker"> | ||
| <static>true</static> | ||
| <link name="link"> | ||
| <collision name="collision"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.2 0.01 0.2</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.2 0.01 0.2</size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <ambient>1 1 1 1</ambient> | ||
| <diffuse>1 1 1 1</diffuse> | ||
| <specular>0 0 0 1</specular> | ||
| <pbr> | ||
| <metal> | ||
| <albedo_map>../../tags/apriltags.png</albedo_map> | ||
| </metal> | ||
| </pbr> | ||
| </material> | ||
| </visual> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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The
modelsdirectory is installed twice (lines 29-32 and 34-37). Remove the duplicate installation directive to avoid redundancy.