For now all is static.
The position of the wheelbase can be defined by modifying the launch file (debra_description/launch/gazebo.launch), at line 42 args="-param debra_urdf_description -urdf -x 0.5 -y -1 -z 0.25 -model debra" you can change the values of x and y.
So you can position the wheelbase correctly, I drew the table reference frame in red
To summarize what we have now:
Table, wheelbase and lidar
Everything is static for now (but the measurements update at 15Hz with noise and everything so you can interact with it if you want)
Errors with joint states and TFs (#1 and other known issues) are solved
Cleaned up / updated doc
The robot can be placed at runtime on the table by running rosrun debra_description set_robot_pose debra x y heading, don't forget to replace x, y and heading by the values you want (floating point).
To be done next:
Make it movable with the same interface of the robot.
Chose a definitive table reference frame and use it
For now all is static. The position of the wheelbase can be defined by modifying the launch file (
debra_description/launch/gazebo.launch), at line 42args="-param debra_urdf_description -urdf -x 0.5 -y -1 -z 0.25 -model debra"you can change the values of x and y.So you can position the wheelbase correctly, I drew the table reference frame in red
To summarize what we have now:
rosrun debra_description set_robot_pose debra x y heading, don't forget to replacex,yandheadingby the values you want (floating point).To be done next: