V5 Gazebo Simulator Interfaces

VEXU-GHOST / VEXU_GHOST

9 stars 5 forks source link

Open MaxxWilson opened 1 year ago

MaxxWilson commented 1 year ago

Our simulation package should be migrated to interface directly with V5ActuatorCommand.msg and V5SensorUpdate.msg ROS topics.

This allows nodes in ghost_ros to be agnostic to the platform (hardware vs simulator)

MaxxWilson commented 1 year ago

Working Notes:

I'd Sensors/Actuators in the same plugin so we can resolve motor encoder ports from the V5ActuatorCommand msg
Most general approach is to supply a matrix that maps from motor/encoders to gazebo joints. That way we can easily tweak ratios or add fancy mechanisms (differential, specifically lol) using the same interface.