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Corrections to dvl sensor #51

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Corrections to dvl sensor #51

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de8d693
Added missing parameter to dvl sensor.
davidorchansky Jan 20, 2022
90b629f
Corrected variable name in dvl sensor macro.
davidorchansky Feb 1, 2022
a702ab7
Added namespace to ray sensor used by dvl plugin.
davidorchansky Feb 7, 2022
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15 changes: 8 additions & 7 deletions uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/dvl_snippets.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@
<xacro:default_dvl_macro
namespace="${namespace}"
parent_link="${parent_link}"
reference_frame="world">
inertial_reference_frame="world">
<xacro:insert_block name="origin" />
</xacro:default_dvl_macro>
</xacro:macro>
Expand All @@ -60,7 +60,7 @@
<xacro:default_dvl_macro
namespace="${namespace}"
parent_link="${parent_link}"
reference_frame="world_ned">
inertial_reference_frame="world_ned">
<xacro:insert_block name="origin" />
</xacro:default_dvl_macro>
</xacro:macro>
Expand All @@ -81,7 +81,7 @@
</xacro:dvl_plugin_macro>
</xacro:macro>

<xacro:macro name="dvl_single_sonar" params="namespace suffix index pitch yaw update_rate">
<xacro:macro name="dvl_single_sonar" params="namespace suffix index pitch yaw update_rate topic">
<link name="${namespace}/dvl${suffix}_sonar${index}_link">
<inertial>
<mass value="0.001" /> <!-- [kg] -->
Expand Down Expand Up @@ -133,6 +133,7 @@

<plugin filename="libgazebo_ros_ray_sensor.so" name="dvl${suffix}_sonar${index}">
<ros>
<namespace>${namespace}</namespace>
<remapping>~/out:=${topic}_sonar${index}</remapping>
</ros>
<!-- <gaussianNoise>0.005</gaussianNoise> -->
Expand Down Expand Up @@ -179,22 +180,22 @@

<xacro:dvl_single_sonar
namespace="${namespace}" suffix=""
index="0" pitch="-0.52" yaw="0.0" update_rate="${update_rate}">
index="0" pitch="-0.52" yaw="0.0" update_rate="${update_rate}" topic="${topic}">
</xacro:dvl_single_sonar>

<xacro:dvl_single_sonar
namespace="${namespace}" suffix=""
index="1" pitch="0" yaw="0.52" update_rate="${update_rate}">
index="1" pitch="0" yaw="0.52" update_rate="${update_rate}" topic="${topic}">
</xacro:dvl_single_sonar>

<xacro:dvl_single_sonar
namespace="${namespace}" suffix=""
index="2" pitch="0.52" yaw="0.0" update_rate="${update_rate}">
index="2" pitch="0.52" yaw="0.0" update_rate="${update_rate}" topic="${topic}">
</xacro:dvl_single_sonar>

<xacro:dvl_single_sonar
namespace="${namespace}" suffix=""
index="3" pitch="0.0" yaw="-0.52" update_rate="${update_rate}">
index="3" pitch="0.0" yaw="-0.52" update_rate="${update_rate}" topic="${topic}">
</xacro:dvl_single_sonar>

<gazebo>
Expand Down