Refactor diff_drive demo #635
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Signed-off-by: Carlos Agüero <[email protected]>
Signed-off-by: Carlos Agüero <[email protected]>
ahcorde
requested changes
Nov 25, 2024
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we are not publishing the tf from Gazebo.
My suggestion here is to add the tf to the bridge
- ros_topic_name: "tf"
gz_topic_name: "/model/vehicle_green/tf"
ros_type_name: "tf2_msgs/msg/TFMessage"
gz_type_name: "gz.msgs.Pose_V"
direction: GZ_TO_ROS
- ros_topic_name: "tf"
gz_topic_name: "/model/vehicle_blue/tf"
ros_type_name: "tf2_msgs/msg/TFMessage"
gz_type_name: "gz.msgs.Pose_V"
direction: GZ_TO_ROSand a static transform for each vehicle:
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_green/odom" />
<node pkg="tf2_ros" exec="static_transform_publisher" args="--frame-id world --child-frame-id vehicle_blue/odom" />And modify the RViz file to sue the "Fixed frame" as world and add the other odometry marker for the green vehicle
ros_gz_sim_demos/README.md
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| ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}" | ||
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| This demo also shows the use of custom QoS parameters. The commands are |
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why do you remove this comment?
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Refactors the
diff_drivedemo leveraging the latest improvements inros_gz.Summary
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codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.