Closed caguero closed 1 year ago
@caguero This seems to be working but there is a little quirk where even though gz topic -l
doesn't show /wamv/pingers/ping/range_bearing
, ros2 topic list
still includes it:
/clock
/parameter_events
/rosout
/tf
/tf_static
/vrx/contacts
/vrx/debug/wind/direction
/vrx/debug/wind/speed
/vrx/task/info
/wamv/pingers/pinger/range_bearing
/wamv/pingers/pinger/set_pinger_position
/wamv/pose
...
If I try to echo it I get nothing, so maybe it's ok?
See issue #641.
The problem was our well known Gazebo "feature" that eliminates fixed joints when converting from
URDF
toSDF
. Then, the pinger link disappeared. I converted the fixed joint into a revolute joint with no movement to bypass the problem.How to test it?
Launch the simulation as usual:
Look at the WAMV in the entity tree and verify that there is a "pinger" listed. If you select the pinger link, you should observe a tiny sphere between the two pontoons as I enabled a small visual for reference.
Additionally, if you comment out the line
221
inwamv_gazebo.urdf.xacro
:You shouldn't see the pinger link in the WAMV entity tree and the functionality of the pinger won't be available (
gz topic -l
shouldn't report the topic/wamv/pingers/pinger/range_bearing
).