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Description fixes #200

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merged 5 commits into from
Mar 8, 2023
Merged

Description fixes #200

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fef4acf
Renamed bumper mesh link to "bumper", added dummy bumper zone for "bu…
roni-kreinin Feb 10, 2023
3862dd9
Added static transform publishers for left and right wheel drop links.
roni-kreinin Feb 10, 2023
4ac3c17
Added /tf_static remapping to allow namespacing
roni-kreinin Feb 10, 2023
eabcfb8
Merge branch 'iRobotEducation:main' into description_fixes
roni-kreinin Mar 7, 2023
1d9d358
Added use_sim_time paramter to joint_state_publisher
roni-kreinin Mar 7, 2023
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1 change: 1 addition & 0 deletions irobot_create_common/irobot_create_common_bringup/launch/robot_description.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ def generate_launch_description():
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
parameters=[{'use_sim_time': True}],
)

# Define LaunchDescription variable
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7 changes: 6 additions & 1 deletion irobot_create_common/irobot_create_description/urdf/bumper.urdf.xacro
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Expand Up @@ -15,7 +15,7 @@ functional, while the 4 remaining ones are created as dummy links. -->
<link name="${link_name}"/>
</xacro:macro>

<xacro:macro name="bumper" params="name:=bump_front_center parent_link:=base_link update_rate:=62.0 gazebo visual_mesh collision_mesh
<xacro:macro name="bumper" params="name:=bumper parent_link:=base_link update_rate:=62.0 gazebo visual_mesh collision_mesh
*origin *inertial">
<xacro:property name="link_name" value="${name}"/>
<xacro:property name="joint_name" value="${name}_joint"/>
Expand Down Expand Up @@ -67,6 +67,11 @@ functional, while the 4 remaining ones are created as dummy links. -->
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>

<xacro:dummy_bumper_zone
name="bump_front_center">
<origin xyz="0.175 0 0.039" rpy="0 0 0"/>
</xacro:dummy_bumper_zone>

<xacro:dummy_bumper_zone
name="bump_front_left">
<origin xyz="0.02345 -0.0875 0.025" rpy="0 0 0.5235985"/>
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