Fix lidar in simulation

husarion · Nov 27, 2024 · 5d135ba · 5d135ba
1 parent 324d5c4
commit 5d135ba
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Showing 4 changed files with 17 additions and 8 deletions.
diff --git a/rosbot_controller/launch/controller.launch.py b/rosbot_controller/launch/controller.launch.py
@@ -42,6 +42,14 @@ def generate_launch_description():
         description="Whether to use mecanum drive controller (otherwise diff drive controller is used)",
     )
 
+    simulation_engine = LaunchConfiguration("simulation_engine")
+    declare_simulation_engine_arg = DeclareLaunchArgument(
+        "simulation_engine",
+        default_value="ignition-gazebo",
+        description="Which simulation engine to be used",
+        choices=["ignition-gazebo", "webots"],
+    )
+
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -79,10 +87,12 @@ def generate_launch_description():
             ),
             " mecanum:=",
             mecanum,
-            " use_sim:=",
-            use_sim,
             " namespace:=",
             namespace,
+            " simulation_engine:=",
+            simulation_engine,
+            " use_sim:=",
+            use_sim,
         ]
     )
     robot_description = {"robot_description": robot_description_content}
@@ -172,6 +182,7 @@ def generate_launch_description():
         [
             declare_namespace_arg,
             declare_mecanum_arg,
+            declare_simulation_engine_arg,
             declare_use_sim_arg,
             SetParameter("use_sim_time", value=use_sim),
             control_node,

diff --git a/rosbot_description/urdf/body.urdf.xacro b/rosbot_description/urdf/body.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <!-- body defining macro -->
-  <xacro:macro name="body" params="wheel_radius mecanum use_gpu namespace">
+  <xacro:macro name="body" params="wheel_radius mecanum namespace">
     <xacro:include filename="$(find rosbot_description)/urdf/components/vl53lox.urdf.xacro" ns="range_sensor" />
 
     <link name="base_link" />

diff --git a/rosbot_description/urdf/rosbot.urdf.xacro b/rosbot_description/urdf/rosbot.urdf.xacro
@@ -2,7 +2,6 @@
 <robot name="rosbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:arg name="use_sim" default="false" />
-  <xacro:arg name="use_gpu" default="false" />
   <xacro:arg name="mecanum" default="false" />
   <xacro:arg name="simulation_engine" default="ignition-gazebo" />
   <xacro:arg name="namespace" default="None" />
@@ -11,7 +10,6 @@
   <xacro:husarion.rosbot_robot
     mecanum="$(arg mecanum)"
     use_sim="$(arg use_sim)"
-    use_gpu="$(arg use_gpu)"
     simulation_engine="$(arg simulation_engine)"
     namespace="$(arg namespace)" />
 
@@ -20,7 +18,7 @@
       parent_link="cover_link"
       xyz="0.02 0.0 0.0"
       rpy="0.0 0.0 0.0"
-      use_gpu="$(arg use_gpu)"
+      use_gpu="true"
       namespace="$(arg namespace)"
       simulation_engine="$(arg simulation_engine)" />
 

diff --git a/rosbot_description/urdf/rosbot_macro.urdf.xacro b/rosbot_description/urdf/rosbot_macro.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:macro name="rosbot_robot" params="mecanum use_sim use_gpu simulation_engine namespace ">
+  <xacro:macro name="rosbot_robot" params="mecanum use_sim simulation_engine namespace ">
 
     <xacro:if value="${namespace == 'None'}">
       <xacro:property name="namespace_ext" value="" />
@@ -21,7 +21,7 @@
     <xacro:include filename="$(find rosbot_description)/urdf/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
-    <xacro:body.body wheel_radius="${wheel_radius}" mecanum="${mecanum}" use_gpu="${use_gpu}" namespace="${namespace}" />
+    <xacro:body.body wheel_radius="${wheel_radius}" mecanum="${mecanum}" namespace="${namespace}" />
 
     <!-- WHEEL DECLARATION -->
     <xacro:wheel.wheel wheel_radius="${wheel_radius}" side="fr" mecanum="${mecanum}" />