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Flying lead updates #161
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Flying lead updates #161
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9af0183
Modifed uuv_mating plugin to allow arbitrary names
dtdavi1 5456377
Changed uuv_mating names to plug_and_socket names for clarity
dtdavi1 adb46dd
Converted uuv mating (plug & socket) from world to model plugin
dtdavi1 669b261
Generated Xacro versions of the socket and created a demo
dtdavi1 74518ec
Plug & socket updates to work in various orientations
dtdavi1 b73d34a
Style fixes to get things to pass the code checks
dtdavi1 bbf48e2
Simplified the alignment checks in the plug_and_socket plugin
dtdavi1 20ee22d
Code cleanup
dtdavi1 ba84adc
Update to address a couple of pull request comments
dtdavi1 60ee406
Merge branch 'master' into elec_lead
mabelzhang 3eb679b
Fix for bug IDed in pre-merge checks
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51 changes: 51 additions & 0 deletions
51
examples/dave_demo_launch/launch/dave_plug_and_socket_demo.launch
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,51 @@ | ||
<?xml version="1.0"?> | ||
<launch> | ||
<arg name="gui" default="true"/> | ||
<arg name="paused" default="false"/> | ||
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_plug_and_socket_demo.world"/> | ||
<arg name="set_timeout" default="false"/> | ||
<arg name="timeout" default="0.0"/> | ||
<arg name="joy_id" default="0"/> | ||
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<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world --> | ||
<include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
<arg name="world_name" value="$(arg world_name)"/> | ||
<arg name="paused" value="$(arg paused)"/> | ||
<arg name="use_sim_time" value="true"/> | ||
<arg name="gui" value="$(arg gui)"/> | ||
<arg name="headless" value="false"/> | ||
<arg name="debug" value="false"/> | ||
<arg name="verbose" value="true"/> | ||
</include> | ||
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<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/> | ||
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<group if="$(arg set_timeout)"> | ||
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch"> | ||
<arg name="timeout" value="$(arg timeout)"/> | ||
</include> | ||
</group> | ||
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<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch"> | ||
<arg name="namespace" value="rexrov"/> | ||
<arg name="x" value="7.5"/> | ||
<arg name="y" value="1.25"/> | ||
<arg name="z" value="-95.5"/> | ||
<arg name="yaw" value="3.141592"/> | ||
</include> | ||
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<include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch"> | ||
<arg name="uuv_name" value="rexrov" /> | ||
<arg name="model_name" value="rexrov" /> | ||
<arg name="joy_id" value="$(arg joy_id)"/> | ||
</include> | ||
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<include file="$(find oberon7_control)/launch/joint_control.launch"> | ||
<arg name="uuv_name" value="rexrov"/> | ||
</include> | ||
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<include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/> | ||
<node name="spawn_socket" pkg="gazebo_ros" type="spawn_model" | ||
args="-urdf -param socket_platform -model socket_platform -x 0 -y 0 -z -99 -Y -1.57079632679" respawn="false" output="screen" /> | ||
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</launch> |
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Is this meant to be only a local change and not committed?
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It's intentional. Since my last commit changed the messaging from ROS to Gazebo (there's no other ROS stuff in the plugin, so it's really a Gazebo plugin, not a ROS one), the messages do not go to the screen unless it's set to verbose.
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The duplicated meshes are intentional to avoid cross dependencies between the description package and the models package (e.g., if end users don't want the SDF models, they aren't needed). If the group feels strongly that they shouldn't be duplicated, the URDF (_description) packages can reference the dave_models package versions.
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Re duplicated meshes: I don't have a strong opinion. Sometimes duplicates create confusions, especially if someone starts modifying them and isn't aware there are two. I don't know if they will ever need to be modified. @M1chaelM opinions?