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MobileRobots / amr-ros-config

URDF, launch files, and other ROS configuration for AMR robots
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deleted zero-sized collision boxes, removed visual names #9

Closed eugene-katsevman closed 7 years ago

eugene-katsevman commented 7 years ago

Collision boxes were with size="0 0 0", which caused errors in gazebo 7 (ogre 1.9), so I've removed them.

Note : in Thomas's fork he just set 0.001 size for there boxes. So it's up to you to decide which approach is better.

reed-adept commented 7 years ago

OK seems to work, thanks! I'll see why the CoM is off and maybe check the other models too.

reed-adept commented 7 years ago

Any ideas on improving the collision geometry? Sholud we explicitly specify the meshes? How about cylinder primitives for the wheels?

reed-adept commented 7 years ago

Nevermind, looks like someone already did that, couldn't tell in Gazebo "view collisions" mode.

eugene-katsevman commented 7 years ago

Yes, it is done. Can't tell if models need further improvements without actually using them. If gazebo have fixed fdir1 bug one could bring them back into urdf, but that should be done only when new ros is released. Or we can write a plugin which will recalculate fdir1 every frame, as other people do.