search

space-ros / simulation

Simulation assets of space-ros demos
9 stars 19 forks source link

Updates to .xacro and .gazebo file to have the rover visible in Rviz #17

Closed ana-GT closed 6 months ago

ana-GT commented 6 months ago

This PR fixes demos #25: The rover wasn't visible in Rviz.

Changes

  1. Changed $(find simulation) to package://simulation in the xacro files.
  2. A few of the joints didn't have a state interface in the ros2_control tag, hence these joints were not being published in the joint_state topic, which made robot_publisher not publish their transforms.
  3. There were a couple of non-actuated joints (suspension_arm_B2_L_joint and suspension_arm_B2_R_joint) that were missing in the ros2_control tag. We added the joints only with an state interface so their states could be published by the joint_state_broadcaster.

Video (5x) shows the Rover in Rviz, now fully visible. We move the arm and the mast a little bit just to test that the TFs are being updated accordingly.

How to test Start the mars demo as usual. Open an Rviz2 window and set the fixed frame to be /odom. Add a RobotModel display and set the topic name to be /robot_description. Robot should load without errors.

https://github.com/space-ros/simulation/assets/555379/ce0a8abe-88f3-4015-a93e-6f6c438a2cec