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Added small docs

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wittenator 2023-11-29 23:16:24 +01:00
parent 97443604b7
commit d1d44b84a9
2 changed files with 29 additions and 10 deletions
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32
README.md
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@ -1,7 +1,33 @@
## Robot Package Template
This is a GitHub template. You can make your own copy by clicking the green "Use this template" button.
### Installation
```
sudo apt-get install ros-iron-ros-gz ros-iron-robot-state-publisher
```
It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `my_bot` to whatever your project's name is.
### Execution
```
ros2 launch sensor_sim launch_sim.py
```
Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if `CMakeLists.txt` is adjusted accordingly).
### Changing the position of lidar and camera
In `/description/lidar.xacro` there is a block looking like this:
```
<joint name="laser_joint" type="fixed">
<parent link="chassis"/>
<child link="laser_frame"/>
<origin xyz="-1.1 0.0 1.0" rpy="0 0 0"/>
</joint>
```
Modifying the origin key changes the position of the lidar (relative to the center of the front axle of the car). The simulation needs to be restarted.
There is a similar block in `/description/bbox_camera.xacro` looking like
```
<joint name="camera_joint" type="fixed">
<parent link="laser_frame"/>
<child link="camera_link"/>
<origin xyz="0 -0.2 0" rpy="0 0 0"/>
</joint>
```
Modifying the origin yields the same result, but the camera is relative to the position of the lidar.

7
launch/launch_sim.py
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@ -35,12 +35,6 @@ def generate_launch_description():
parameters=[params]
)
node_joint_state_publisher = Node(
package='joint_state_publisher',
executable='joint_state_publisher',
parameters=[{'use_sim_time': True}]
)
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')]),
@ -95,7 +89,6 @@ def generate_launch_description():
default_value='-45',
description='Lower limit of FOV of lidar'),
node_robot_state_publisher,
node_joint_state_publisher,
gazebo,
spawn_entity,
bridge,