Modularize the chassis description

luca-byte commented 5 months ago

Features

rotate the joints between chassis
create macros to define chassis and joints
align coordinate systems
add a new joint (I was not able to use only three joints in this joint configuration)

Considerations

At the moment the old robot file is still present in order to compare effectively the modifications.
The wheels are not considered (#20)
Some inertial properties have been removed (outdated in respect to the current joint definition) and should be calculated again
Some inertial properties were kept since they seemed to be correct (chassis main and wheels)

Since you created the previous version @Tizio0o0o0o, do you spot any things I have missed?

Closes #22 #21

If you want to test the result and move the joints, I suggest the VSCode ROS extension (version pre-release 0.9.6) in a Ubuntu 22.04 environment. Open the components.xacro file and in the command palette search ROS: Preview URDF

luca-byte commented 5 months ago

Perfect. I will prepare the code for the merge operation

luca-byte commented 5 months ago

@GBergatto ready for the final review

Team-Isaac-Polito / reseq_ros2

Modularize the chassis description #24

Features

Considerations