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Absolem update #538

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Absolem update #538

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2926dfd
Absolem: Fix flipper control plugins in model files.
peci1 Aug 7, 2020
f08cb56
Absolem: Fixed track properties and realsense visuals and pose.
peci1 Aug 7, 2020
637c0a8
Absolem: Fixed flipper control bug with positional commands.
peci1 Aug 7, 2020
f63be8e
Absolem: Added support for relative positional commands.
peci1 Aug 7, 2020
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3 changes: 2 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -9,4 +9,5 @@ config="big_collision_box_height:=0.5 big_collision_box_on_top:=1 big_collision_
mobilicom_shift_y:=0.01 mobilicom_shift_z:=0.2 mobilicom_yaw:=3.14152 ptuxthermo_x_offset:=0.2
ptuxthermo_y_offset:=0.18 realsense_holder_version:=5 realsense_parent_link:=omnicam_sensor_mount
realsense_roll:=0.0 realsense_shift_x:=0.0 realsense_shift_y:=0.0 realsense_shift_z:=0.0 realsense_tilt:=-1.15
realsense_upside_down:=0 realsense_yaw:=0.62831853 t265_parent_link:=rear_sensor_item top_box_j_x:=0.472"
realsense_upside_down:=0 realsense_width:=640 realsense_yaw:=0.62831853 t265_parent_link:=rear_sensor_item
top_box_j_x:=0.472"
31 changes: 30 additions & 1 deletion submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch
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Expand Up @@ -70,6 +70,13 @@
args="/model/$(arg name)/joint/front_left_flipper_j/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/front_left_flipper_j/cmd_pos" to="flippers_cmd_pos/front_left"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_front_left_flipper_pos_rel"
args="/model/$(arg name)/joint/front_left_flipper_j/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/front_left_flipper_j/cmd_pos_rel" to="flippers_cmd_pos_rel/front_left"/>
</node>

<node
pkg="ros_ign_bridge"
Expand All @@ -85,6 +92,13 @@
args="/model/$(arg name)/joint/front_right_flipper_j/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/front_right_flipper_j/cmd_pos" to="flippers_cmd_pos/front_right"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_front_right_flipper_pos_rel"
args="/model/$(arg name)/joint/front_right_flipper_j/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/front_right_flipper_j/cmd_pos_rel" to="flippers_cmd_pos_rel/front_right"/>
</node>

<node
pkg="ros_ign_bridge"
Expand All @@ -100,6 +114,13 @@
args="/model/$(arg name)/joint/rear_left_flipper_j/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/rear_left_flipper_j/cmd_pos" to="flippers_cmd_pos/rear_left"/>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_rear_left_flipper_pos_rel"
args="/model/$(arg name)/joint/rear_left_flipper_j/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/rear_left_flipper_j/cmd_pos_rel" to="flippers_cmd_pos_rel/rear_left"/>
</node>

<node
pkg="ros_ign_bridge"
Expand All @@ -114,7 +135,15 @@
name="ros_ign_bridge_rear_right_flipper_pos"
args="/model/$(arg name)/joint/rear_right_flipper_j/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/rear_right_flipper_j/cmd_pos" to="flippers_cmd_pos/rear_right"/>
</node>
</node>
<node
pkg="ros_ign_bridge"
type="parameter_bridge"
name="ros_ign_bridge_rear_right_flipper_pos_rel"
args="/model/$(arg name)/joint/rear_right_flipper_j/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
<remap from="/model/$(arg name)/joint/rear_right_flipper_j/cmd_pos_rel" to="flippers_cmd_pos_rel/rear_right"/>
</node>

<!-- Laser rotation control -->

<node
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