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iRobotEducation / create3_sim

ROS 2 Simulation for the iRobot® Create® 3 Educational Robot
BSD 3-Clause "New" or "Revised" License
106 stars 56 forks source link

Links need correction #87

Closed rjcausarano closed 2 years ago

rjcausarano commented 2 years ago

Describe the bug After base_footprint was removed, base_link was moved to compensate.

All links that have base_link as a parent need to be readjusted frames_wrong

rjcausarano commented 2 years ago

@apojomovsky I reverted most of the offset changes introduced to base_link when base_footprint was removed. Check out this branch: https://github.com/iRobotEducation/create3_sim/tree/rjcausarano/fix_base_link.

This branch I think almost fixes the problem entirely... you might have to make minor adjustments because when you imported the body mesh of the create3 you added a small z offset that I did not take into account here

rjcausarano commented 2 years ago

After applying the changes in my branch above you will face 2 issues:

  1. The robot goes backwards from the dock for some reason
  2. In RVIZ the robot is spawned below the floor.
rjcausarano commented 2 years ago

Related issue: https://github.com/iRobotEducation/create3_sim/issues/92. @apojomovsky Maybe these can be fixed together?

apojomovsky commented 2 years ago

Related issue: #92. @apojomovsky Maybe these can be fixed together?

I'd recommend to close this one as it's partially solved as part of #66. Let's supersede it by #92.