fix for real kairos #11
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Collaborator
ggari-robotnik
commented
Nov 20, 2024
ggari-robotnik
commented
- modified launcher
- put wheels in the right directions
- added kairos urdf without arm
- modified launcher - put wheels in the right directions - added kairos urdf without arm
rafa-martin
reviewed
Nov 20, 2024
| @@ -98,7 +98,7 @@ def generate_launch_description(): | |||
| FindExecutable(name="xacro"), | |||
| " ", | |||
| params['robot_xacro_path'], | |||
| " prefix:=''", | |||
| " prefix:='robot_'", | |||
There was a problem hiding this comment.
the prefix is provided by robot_state_publisher node, not in urdf.
rafa-martin
reviewed
Nov 20, 2024
| @@ -113,7 +113,7 @@ def generate_launch_description(): | |||
| { | |||
| 'robot_description': robot_description_param, | |||
| 'publish_frequency': 100.0, | |||
| 'frame_prefix': [params['robot_id'], '/'], | |||
| # 'frame_prefix': [params['robot_id'], '/'], | |||
There was a problem hiding this comment.
currently for all robots in ros2, here is where is defined the prefix
rafa-martin
reviewed
Nov 20, 2024
Comment on lines
+128
to
+130
| <xacro:if value="$(arg ros_planar_move_plugin)"> | ||
| <xacro:omni_steering prefix="$(arg prefix)" publish_tf="true"/> | ||
| </xacro:if> |
There was a problem hiding this comment.
im not sure if these lines work in ros2, is this tested in gazebo? @cgasconb
There was a problem hiding this comment.
I've modified the xacro to use the ros2 plugin, it worked during the tests
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.