added decomposed meshes

code-iai / iai_maps

The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen

12 stars 37 forks source link

added decomposed meshes #98

Closed ichumuh closed 2 years ago

ichumuh commented 2 years ago

added convex decomposition obj for all collision objects
changed urdfs to load objs as collsion objects
bring up launch file has a static transform publisher for map
bring up launch file has a joint state publisher
wardrobe_door_left_joint opens in positive directions

gaya- commented 2 years ago

Damn, despite decomposition my costmaps don't like the walls, they still cover everything with their bounding box. I'll ask @mir7b to cut them into four separate pieces. Overall the script seems to work well.

ichumuh commented 2 years ago

renamed the topics

mir7b commented 2 years ago

@ichumuh it would be great if you could fit my new merge request stuff in here as well! XD

ichumuh commented 2 years ago

I'm using a different xml parser which should preserve all comments, does this look good now? @gaya- @mir7b

gaya- commented 2 years ago

Looks good to me. I'd merge it after #99 is merged and this PR is updated with #99 contents.

ichumuh commented 2 years ago

@gaya- @mir7b merged with master