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Field-Robotics-Lab / dave

Project DAVE
Apache License 2.0
224 stars 72 forks source link

Model collections #246

Open bsb808 opened 2 years ago

bsb808 commented 2 years ago

DRAFT - to be reviewed after #244

Adds launch files to spawn multiple models in one gazebo world for documentation (highlight videos, papers, etc.)

Testing recommendations

  1. roslaunch dave_robot_launch uuv_collection.launch paused:=true - see documentation here - https://github.com/Field-Robotics-Lab/dave/wiki/vehicle_examples
  2. roslaunch dave_robot_launch glider_collection.launch paused:=true - see documentation here - https://github.com/Field-Robotics-Lab/dave/wiki/Glider-Models
woensug-choi commented 2 years ago

At https://github.com/Field-Robotics-Lab/dave/pull/246/commits/c4e430e4404cbede9a5cd6c0734260ba228145ef, the propeller orientation and rotation axis are fixed.

Related : https://github.com/Field-Robotics-Lab/dave/issues/249, https://github.com/Field-Robotics-Lab/dave/issues/247

PNG Capture: GliderPropellerFixed

Rotation Animation GIF capture:

rostopic pub -1 /glider_hybrid_whoi/thrusters/0/input uuv_gazebo_ros_plugins_msgs/FloatStamped "data: 2.0"

ezgif-4-9b881aedb2