34 lines
1.1 KiB
Markdown
34 lines
1.1 KiB
Markdown
## Robot Package Template
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### Installation
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```
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sudo apt-get install ros-iron-ros-gz ros-iron-robot-state-publisher libignition-gazebo6-dev libignition-common4-dev libignition-transport8-dev libignition-msgs5-dev libignition-cmake2-dev
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```
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Then normal ROS2 install and buidl procedure.
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### Execution
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```
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ros2 launch sensor_sim launch_sim.py
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```
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### Changing the position of lidar and camera
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In `/description/lidar.xacro` there is a block looking like this:
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```
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<joint name="laser_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="-1.1 0.0 1.0" rpy="0 0 0"/>
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</joint>
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```
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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.
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There is a similar block in `/description/bbox_camera.xacro` looking like
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```
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<joint name="camera_joint" type="fixed">
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<parent link="laser_frame"/>
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<child link="camera_link"/>
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<origin xyz="0 -0.2 0" rpy="0 0 0"/>
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</joint>
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```
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Modifying the origin yields the same result, but the camera is relative to the position of the lidar. |