Generalize MultiSenseSLPlugin for non-atlas robots

osrf / drcsim

Repository for the DRC project.

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Generalize MultiSenseSLPlugin for non-atlas robots #494

Open osrf-migration opened 9 years ago

osrf-migration commented 9 years ago

Original report (archived issue) by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

From this question:

Hi, we bought the multisense for our robot and we have added in our urdf. When we try to load the robot in gazebo we have problem with the spindle link that is not found. Looking inside the code we find out that the atlas name is hardcoded: line 93 in MultiSenseSLPlugin.cpp. Basically even simulating only the multisense is possible only if the robot name is atlas is it? If yes is possible to make that the robot name is taken from the simulation instead of hardcoded?

Thanks

@emingo

osrf-migration commented 9 years ago

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

There is indeed some atlas-specific code in this plugin:

Minor:

the private variable atlasModel could be changed to parentModel.

Major:

atlas:: is hard-coded into attempts to get pointers for spindleLink and spindleJoint
the /atlas_version ros parameter is queried during MultiSenseSL::LoadThread