From def7cbc9a13ca2f79e2a59f88d582f0da3f2d483 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 20 Sep 2018 17:34:05 +0200
Subject: [PATCH] Fix laser position, add laser config, fix frame namespace
---
config/hokuyo_utm30lx.yaml | 20 ++++++++++++++++++++
urdf/helena.xacro | 2 +-
urdf/helena_sensors.xacro | 19 ++++++++++++-------
3 files changed, 33 insertions(+), 8 deletions(-)
create mode 100644 config/hokuyo_utm30lx.yaml
diff --git a/config/hokuyo_utm30lx.yaml b/config/hokuyo_utm30lx.yaml
new file mode 100644
index 0000000..43feaef
--- /dev/null
+++ b/config/hokuyo_utm30lx.yaml
@@ -0,0 +1,20 @@
+pose_x: 0
+pose_y: 0
+pose_z: 0
+pose_roll: 0
+pose_pitch: 0
+pose_yaw: 0
+visualize: false
+update_rate: 40
+samples: 1080
+resolution: 1
+min_angle: -2.36
+max_angle: 2.36
+range_min: 0.10
+range_max: 30.0
+range_resolution: 0.01
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.01
+topic_name: 'scan'
+frame_name: 'scan_frame'
\ No newline at end of file
diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index ed877b5..6538443 100644
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -10,7 +10,7 @@
<xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
</xacro:pioneer3>
- <xacro:helena_sensors name="$(arg name)" parent="$(arg name)_base_link">
+ <xacro:helena_sensors name="$(arg name)" parent="base_link">
<origin xyz="0.0 0.0 0.27" rpy="0 0 3.14159" />
</xacro:helena_sensors>
</robot>
diff --git a/urdf/helena_sensors.xacro b/urdf/helena_sensors.xacro
index 5832490..31e1fd3 100644
--- a/urdf/helena_sensors.xacro
+++ b/urdf/helena_sensors.xacro
@@ -5,7 +5,7 @@
<xacro:macro name="helena_sensors" params="name parent *origin">
- <link name="${name}_sensors_base">
+ <link name="sensors_base">
<inertial>
<mass value="4.00000000" />
<origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
@@ -29,19 +29,24 @@
</geometry>
</collision>
</link>
+
+ <gazebo reference="sensors_base">
+ <material>Gazebo/Grey</material>
+ </gazebo>
- <joint name="joint_${parent}_to_${name}_sensors_base" type="fixed" >
+
+ <joint name="joint_${parent}_to_sensors_base" type="fixed" >
<parent link="${parent}"/>
- <child link="${name}_sensors_base"/>
+ <child link="sensors_base"/>
<xacro:insert_block name="origin" />
</joint>
- <xacro:hokuyo_laser2d name="front" parent="${name}_sensors_base" resolution="low_res" model="utm30lx">
- <origin xyz="0.13121 -0.18921 0.063" rpy="0 0 0.79" />
+ <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+ <origin xyz="0.13121 -0.18921 0.063" rpy="0 0 -0.785" />
</xacro:hokuyo_laser2d>
- <xacro:hokuyo_laser2d name="rear" parent="${name}_sensors_base" resolution="low_res" model="utm30lx">
- <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.63" />
+ <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+ <origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
</xacro:hokuyo_laser2d>
</xacro:macro>
--
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