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Updated branch based on recommended PR changes #464

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merged 4 commits into from
Jun 18, 2020
Merged

Updated branch based on recommended PR changes #464

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4243f7a
Made changes based on pull request comments
bfotheri Jun 15, 2020
8178316
Update spawner.rb to fix negative accel limit
bfotheri Jun 17, 2020
b157df4
updated instructions for building ros ign bridge
bfotheri Jun 17, 2020
a147d33
Update spawner.rb
caguero Jun 18, 2020
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4 changes: 4 additions & 0 deletions submitted_models/marble_husky_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<wheel_separation>#{0.45649 * 1.5}</wheel_separation>
<wheel_radius>0.1651</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-2</min_acceleration>
<max_acceleration>3</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
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51 changes: 51 additions & 0 deletions submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,23 @@
args="$(arg sensor_prefix)/camera_front/depth_image">
<remap from="$(arg sensor_prefix)/camera_front/depth_image" to="front_facing/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_front_facing">
<remap from="input/image" to="front_facing/image_raw" />
<remap from="output/image" to="front_facing/optical/image_raw" />
<remap from="input/camera_info" to="front_facing/camera_info" />
<remap from="output/camera_info" to="front_facing/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_front"
args="depth">
<remap from="input/image" to="front_facing/depth" />
<remap from="output/image" to="front_facing/optical/depth" />
</node>

<!--30 Degree downward looking RGBD camera -->
<node
Expand Down Expand Up @@ -137,6 +154,23 @@
args="$(arg sensor_prefix)/camera_down/depth_image">
<remap from="$(arg sensor_prefix)/camera_down/depth_image" to="front_down/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_front_down">
<remap from="input/image" to="front_down/image_raw" />
<remap from="output/image" to="front_down/optical/image_raw" />
<remap from="input/camera_info" to="front_down/camera_info" />
<remap from="output/camera_info" to="front_down/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_down"
args="depth">
<remap from="input/image" to="front_down/depth" />
<remap from="output/image" to="front_down/optical/depth" />
</node>

<!--Pan Tilt RGBD camera -->
<node
Expand Down Expand Up @@ -167,6 +201,23 @@
args="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image">
<remap from="$(arg gimbal_sensor_prefix)/camera_pan_tilt/depth_image" to="pan_tilt/depth"/>
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_image_pan_tilt">
<remap from="input/image" to="pan_tilt/image_raw" />
<remap from="output/image" to="pan_tilt/optical/image_raw" />
<remap from="input/camera_info" to="pan_tilt/camera_info" />
<remap from="output/camera_info" to="pan_tilt/optical/camera_info" />
</node>
<node
pkg="subt_ros"
type="optical_frame_publisher"
name="optical_frame_publisher_depth_pan_tilt"
args="depth">
<remap from="input/image" to="pan_tilt/depth" />
<remap from="output/image" to="pan_tilt/optical/depth" />
</node>

<!--OS1-64 3D Laser-->
<node
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4 changes: 4 additions & 0 deletions submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -19,6 +19,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
" <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
" <wheel_radius>0.098</wheel_radius>\n"\
" <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
" <min_velocity>-1</min_velocity>\n"\
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Just checking, is this change from a robotika model on purpose?

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I thought this was requested inside the model_pr_426-> master pull request? Perhaps it was by mistake?
robotica_x2

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Yes, sorry for the confusion, I copied this comment from a different team.

" <max_velocity>1</max_velocity>\n"\
" <min_acceleration>-2</min_acceleration>\n"\
" <max_acceleration>3</max_acceleration>\n"\
" </plugin>\n"\
" <!-- Publish robot state information -->\n"\
" <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
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4 changes: 2 additions & 2 deletions subt_ros/launch/competition_init.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,10 @@
type="subt_ros_relay"
name="subt_ros_relay"/>

<!--<node
<node
pkg="subt_ros"
type="bridge_logger"
name="bridge_logger"/>-->
name="bridge_logger"/>


<node
Expand Down