Jonathan made this branch a LONG time ago and I recently made some adjustments to it and now I'd like to merge this into main. Eventually, I think we should figure out how to use the same exact URDF file for both gazebo and rviz nvblox visualization, but that sounds like a future task. Especially because it could entail @pwmarshall needing to convert the master URDF into a xacro file. For now, I think this PR is looking good.
Main Changes:
-Gazebo simulation now uses the Zed2i.stl mesh instead of just a box for the camera
-Rviz visualization of nvblox/nav2 now has a robot model that is the correct size for better visualization
-Auto formatted the isaac ros launch files and fixed the isaac ros apriltag one
Jonathan made this branch a LONG time ago and I recently made some adjustments to it and now I'd like to merge this into main. Eventually, I think we should figure out how to use the same exact URDF file for both gazebo and rviz nvblox visualization, but that sounds like a future task. Especially because it could entail @pwmarshall needing to convert the master URDF into a xacro file. For now, I think this PR is looking good.
Main Changes: -Gazebo simulation now uses the Zed2i.stl mesh instead of just a box for the camera -Rviz visualization of nvblox/nav2 now has a robot model that is the correct size for better visualization -Auto formatted the isaac ros launch files and fixed the isaac ros apriltag one