Commit c4261e51 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Placed the QR codes on the vision obstacles in the right position.

Set real time to the simulation.
Changed the expansion board ID in the Dexter simulation files.
parent f1fb3a12
......@@ -15,7 +15,7 @@ bioloid:
adc3_frame: gyro_y
adc4_frame: gyro_x
exp_board_id: 192
exp_board_id: 30
exp_gpio1_frame: left_front_fwd_ir_link
exp_gpio2_frame: left_front_dwn_ir_link
exp_gpio3_frame: left_lateral_dwn_ir_link
......
......@@ -14,7 +14,7 @@ bioloid:
adc3_frame: gyro_y
adc4_frame: gyro_x
exp_board_id: 192
exp_board_id: 30
exp_gpio1_frame: left_front_fwd_ir_link
exp_gpio2_frame: left_front_dwn_ir_link
exp_gpio3_frame: left_lateral_dwn_ir_link
......
......@@ -92,7 +92,7 @@ catkin_package(
###########
SET(BIOLOID_FW_PATH ~/humanoids/cm510_controller_fw)
SET(ProjectPath ~/humanoids/cm510_controller_fw/examples/vision)
SET(ProjectPath ~/humanoids/cm510_controller_fw/examples/stairs)
## Specify additional locations of header files
## Your package locations should be listed before other locations
......@@ -119,7 +119,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
${BIOLOID_FW_PATH}/motion/src/action.c
${BIOLOID_FW_PATH}/motion/src/balance.c
${BIOLOID_FW_PATH}/motion/src/pan_tilt.c
# ${BIOLOID_FW_PATH}/motion/src/mtn_library.c
${BIOLOID_FW_PATH}/motion/src/mtn_library.c
# dynamixel devices modules
${BIOLOID_FW_PATH}/dyn_devices/src/dyn_servos/dyn_servos.c
${BIOLOID_FW_PATH}/dyn_devices/src/exp_board/exp_board.c
......@@ -130,7 +130,7 @@ add_library(${PROJECT_NAME} src/bioloid_controller_cm510.cpp
# communications modules
${BIOLOID_FW_PATH}/communications/src/dynamixel.c
# main application module
${ProjectPath}/cm510_vision.c
${ProjectPath}/stairs.c
# AVR simulation modules
src/sim/avr_delay.c
src/sim/avr_registers.c
......
......@@ -33,7 +33,7 @@
</joint>
<xacro:qrcode name="${name}_code" parent="${name}" code="${code}" size="0.084">
<origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
<origin xyz="0.0 0.375 0.126" rpy="3.14159 0 1.5707" />
</xacro:qrcode>
<gazebo reference="${name}_link">
......
......@@ -9,7 +9,6 @@
<!-- sine: 0 0.707 1 0.707 0 -0.707 -1 -0.707 -->
<xacro:obstacle_vis name="obstacle1" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0" cosine="1" sine="0" code="turn_right_45"/>
<xacro:obstacle_vis name="obstacle2" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0.79" cosine="0.707" sine="0.707" code="turn_left_180"/>
<xacro:obstacle_vis name="obstacle3" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.14159" cosine="-1" sine="0" code="turn_right_45"/>
<xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="-0.707" code="turn_right_90"/>
<xacro:obstacle_vis name="obstacle5" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="4.71" cosine="0" sine="-1" code="turn_right_180"/>
......
......@@ -2,10 +2,10 @@
<sdf version="1.4">
<world name="default">
<physics type="ode">
<!-- <real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>-->
<real_time_factor>0.1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<!-- <real_time_factor>0.1</real_time_factor>
<real_time_update_rate>100</real_time_update_rate>-->
<max_step_size>0.001</max_step_size>
<gravity>0 0 -9.8</gravity>
<ode>
......
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