uwreact / uwreact_robot

Software behind our fully autonomous FIRST robots

BSD 3-Clause "New" or "Revised" License

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Robot model #88

Closed matthew-reynolds closed 5 years ago

matthew-reynolds commented 5 years ago

Pull Request

Closes #83 by providing a very rough URDF.

Issues include:

Weights are just whatever I felt like putting in
Wheel friction is incorrect
roboticsgroup_gazebo_plugins joint mimicking drifts in velocity mode (This whole dependency needs to be ripped out eventually, it's quite hackey)
Robot geometry is likely not exact
Missing cameras
Missing hatch grabber mechanism & solenoids
Lots more

That said, it's at least something to work with for now.

Contribution Checklist

[x] I have read the contributing guide.
[x] I have referenced relevant issues.
[x] I have labeled accordingly.
[x] I have detailed my changes as much as possible.

Change Checklist

[ ] I have added tests.
[x] I have added necessary documentation.
[x] I have auto formatted using clang-format or yapf.
[ ] I have tested my changes on real hardware.