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ros-naoqi / pepper_robot

Meta-package for basic Pepper robot-related packages
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Vertical Laser [Left,Right] position and orientation are identical #39

Open warp1337 opened 7 years ago

warp1337 commented 7 years ago

According to the Softbank docs the vertical lasers are rotated by ~30 degrees [1]. This seems to be not the case in the generated URDF [2].

You can also observe this in RVIZ, see:

pepper_vertical_laser

I am running the real robot at the time of visualization, but this shouldn't affect the RVIZ visualization wrt the general laser setup, am I right? @nlyubova

[1] http://doc.aldebaran.com/2-0/family/juliette_technical/laser_juliette.html [2] https://github.com/ros-naoqi/pepper_robot/blob/master/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf#L484

nlyubova commented 7 years ago

right but the URDF is generated from Naoqi files (it is not made by hand). @mikaelarguedas can we fix it in the generator?

mikaelarguedas commented 7 years ago

I don't have access to the raw URDFs from Softbank so I can't say if it comes from the generator itself or from the export from Softbank libraries. If you can test it on your side, I think the part you want to modify is this one