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Update Gazebo with new masses and sensor suite #193

Merged
merged 45 commits into from
Jun 17, 2017
Merged

Update Gazebo with new masses and sensor suite #193

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67b4925
added all the gps stuffs
chsahit Mar 1, 2017
1d0fe77
it renders!
chsahit Mar 8, 2017
26f99b3
included imu in navsatfix
chsahit Mar 12, 2017
9f53c67
the car urdf now has both an imu and a urdf
chsahit Mar 12, 2017
ba410f1
Revert "joint states is being subscribed to by sim_car_interface and …
chsahit Mar 14, 2017
07b554a
Merge branch 'buzzmobile_modeling' of https://github.com/gtagency/buz…
chsahit Mar 14, 2017
ab79aab
many changes, makes car move, albeit slowly
irapha Mar 15, 2017
92242b0
Merge branch 'buzzmobile_modeling' of https://github.com/gtagency/buz…
chsahit Apr 4, 2017
29d080b
Merge branch 'master' of https://github.com/gtagency/buzzmobile into …
chsahit Apr 5, 2017
9de7079
Merge branch 'master' of https://github.com/gtagency/buzzmobile into …
chsahit Apr 5, 2017
47c7ae6
updated masses and inertials
chsahit Apr 19, 2017
d31f5d2
IT WORKS
chsahit Apr 19, 2017
e018005
fixed most mistakes requested on the PR
chsahit May 11, 2017
8f0486f
Merge branch 'master' of https://github.com/gtagency/buzzmobile into …
chsahit May 11, 2017
3f9501f
more precise URDF and specified in constants.yaml problem with rospar…
chsahit May 13, 2017
f1d5822
added better docs in constants.yaml/steering.py and fixed sim.launch
chsahit May 14, 2017
6b68a8a
turns out we don't have to update max_speed in multiple places
chsahit May 14, 2017
06989cb
Add pyrostest dependency.
joshuamorton May 29, 2017
bd05a75
Delete old builting 'pyrostest'.
joshuamorton May 29, 2017
35cdec3
Changed version to reflect reality.
joshuamorton May 29, 2017
5157f90
Convert tests to use pyrostest instead of builtin.
joshuamorton May 29, 2017
3d00610
No longer box tests.
joshuamorton May 29, 2017
62a44cc
Merge pull request #206 from gtagency/convert-to-pyros
joshuamorton Jun 1, 2017
a90bccc
Hopefully fix build.
joshuamorton Jun 3, 2017
65f92d6
Try a different way.
joshuamorton Jun 3, 2017
a0a1105
Revert "Try a different way."
joshuamorton Jun 3, 2017
fc814dc
Add system deps.
joshuamorton Jun 3, 2017
1ed6df1
Merge pull request #207 from gtagency/fix-build
joshuamorton Jun 8, 2017
f69d6bc
added all the gps stuffs
chsahit Mar 1, 2017
a641b75
it renders!
chsahit Mar 8, 2017
797e0cd
included imu in navsatfix
chsahit Mar 12, 2017
e3dbaad
the car urdf now has both an imu and a urdf
chsahit Mar 12, 2017
b78abc6
Revert "joint states is being subscribed to by sim_car_interface and …
chsahit Mar 14, 2017
63542c8
many changes, makes car move, albeit slowly
irapha Mar 15, 2017
c01014e
updated masses and inertials
chsahit Apr 19, 2017
2d444eb
IT WORKS
chsahit Apr 19, 2017
1f2526a
fixed most mistakes requested on the PR
chsahit May 11, 2017
7dfa79e
more precise URDF and specified in constants.yaml problem with rospar…
chsahit May 13, 2017
02fe2fc
added better docs in constants.yaml/steering.py and fixed sim.launch
chsahit May 14, 2017
14a9ab9
turns out we don't have to update max_speed in multiple places
chsahit May 14, 2017
3f2d0aa
it works now??
chsahit Jun 11, 2017
424d0df
Merge branch 'navsatfix' of https://github.com/gtagency/buzzmobile in…
chsahit Jun 11, 2017
9bf0b1f
bzm now compiles
chsahit Jun 11, 2017
7c0eba0
shrunk the clock down a lot
chsahit Jun 11, 2017
305e67c
added a longer timeout
chsahit Jun 11, 2017
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2 changes: 1 addition & 1 deletion buzzmobile/launch/simulation.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,6 @@
</group>

<!-- Spawn car -->
<!-- node pkg="buzzmobile" name="sim_spawn_car" type="sim_spawn_car.sh"/ -->
<!--<node pkg="buzzmobile" name="sim_spawn_car" type="sim_spawn_car.sh"/>-->
<include file="$(find buzzmobile)/launch/includes/sim_spawn_car.launch"/>
</launch>
23 changes: 22 additions & 1 deletion buzzmobile/simulation/models/car/car_joints.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -176,6 +176,21 @@
</gazebo>


<link name="gps"/>
<gazebo>
<plugin name="gazebo_sensor" filename="libhector_gazebo_ros_gps.so">
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<bodyName>base_footprint</bodyName>
<topicName>fix</topicName>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>0.0 0.0 0.0</drift>
<gaussianNoise>0.0 0.0 0.0</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityGaussianNoise>0.0 0.0 0.0</velocityGaussianNoise>
</plugin>
</gazebo>

<link name="imu"/>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_sensor">
Expand Down Expand Up @@ -345,12 +360,18 @@
<origin xyz="0.255 0 0.110" rpy="0 0 0"/>
</joint>

<joint name="gps" type="fixed">
<parent link="chassis"/>
<child link="gps"/>
<origin xyz="0 0 0.1778" rpy="0 0 0"/>
</joint>
<joint name="imu" type="fixed">
<parent link="chassis"/>
<child link="imu"/>
<origin xyz="0 0 0.1778" rpy="0 0 0"/>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
</joint>


<!--Actuators-->

<gazebo>
Expand Down