merging master

src/dcaiti_control/config/dcaiti_config.yml

@@ -13,18 +13,23 @@ diff_cont:
 
     publish_rate: 30.0 # You can set this higher than the controller manager update rate, but it will be throttled
     base_frame_id: base_link
+    publish_limited_velocity: true
 
     left_wheel_names: ['left_wheel_joint']
     right_wheel_names: ['right_wheel_joint']
     wheel_separation: 0.215
     wheel_radius: 0.049338032
 
-#    linear:
-#      x:
-#        max_acceleration: 0.15
-#        has_acceleration_limits: true
 
     use_stamped_vel: false
 
-# joint_broad:
-#   ros__parameters:
+joint_limits:
+  ros__parameters:
+    left_wheel_joint:
+      has_position_limits: false # Continuous joint
+      has_velocity_limits: true
+      max_velocity: 10.0
+    right_wheel_joint:
+      has_position_limits: false # Continuous joint
+      has_velocity_limits: true
+      max_velocity: 10.0

src/dcaiti_control/config/empty.yaml

@@ -1 +0,0 @@
-# This is an empty file, so that git commits the folder correctly

src/dcaiti_control/description/lidar.xacro

@@ -34,19 +34,19 @@
  
         <sensor name="laser" type="ray">
             <pose> 0 0 0 0 0 0 </pose>
-            <visualize>true</visualize>
+            <visualize>false</visualize>
             <update_rate>10</update_rate>
             <ray>
                 <scan>
                     <horizontal>
-                        <samples>360</samples>
+                        <samples>360*5</samples>
                         <min_angle>-3.14</min_angle>
                         <max_angle>3.14</max_angle>
                     </horizontal>
                 </scan>
                 <range>
                     <min>0.3</min>
-                    <max>12</max>
+                    <max>100</max>
                 </range>
             </ray>
             <plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">

src/dcaiti_control/description/robot.urdf.xacro

@@ -5,6 +5,24 @@
     <xacro:arg name="use_ros2_control" default="true"/>
     <xacro:arg name="use_sim" default="false"/>
 
+    <xacro:arg name="tube_thickness" default="0.024"/>
+    <xacro:arg name="tube_radius" default="false"/>
+
+    <xacro:arg name="camera_height" default="0.201"/>
+    <xacro:arg name="camera_offset_x" default="0.016"/>
+
+    <xacro:arg name="lidar_height" default="0.201"/>
+
+    <xacro:arg name="wheel_radius" default="0.05"/>
+    <xacro:arg name="wheel_width" default="0.02"/>
+
+    <xacro:arg name="base_height" default="0.1"/>
+    <xacro:arg name="base_width" default="0.2"/>
+    <xacro:arg name="base_length" default="0.2"/>
+
+
+
+
     <!-- Include the colours -->
     <xacro:include filename="colours.xacro" />
     <!-- Include the inertial macros -->

src/dcaiti_control/launch/launch_sim.py

@@ -25,6 +25,7 @@ def generate_launch_description():
     package_name='dcaiti_control' #<--- CHANGE ME
 
     use_ros2_control = LaunchConfiguration('use_ros2_control')
+    world_path='~/.gazebo/models'
 
     rsp = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([os.path.join(
@@ -36,7 +37,7 @@ def generate_launch_description():
     gazebo = IncludeLaunchDescription(
                 PythonLaunchDescriptionSource([os.path.join(
                     get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
-                    launch_arguments={'params_file': gazebo_params_path}.items()
+                    launch_arguments={'params_file': gazebo_params_path, 'world': world_path }.items()
              )
 
     # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.

src/dcaiti_control/launch/rsp.launch.py

@@ -28,7 +28,6 @@ def generate_launch_description():
     node_robot_state_publisher = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        output='screen',
         parameters=[params]
     )