Fix disconnected thruster joints #12
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… joints are purely decorative outside gazebo, and the tf is not published except in simulation anyway
tonybaltovski
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Feb 2, 2021
tonybaltovski
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Feb 2, 2021
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Thanks @civerachb-cpr |
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Oct 29, 2021
commit 5145439 Author: Chris Iverach-Brereton <civerachb@clearpathrobotics.com> Date: Fri Oct 29 16:46:01 2021 -0400 Add a teleop.launch file and a default gamepad configuration (copied from Jackal) to allow easier teleop in gazebo commit d9c7af5 Author: Chris Iverach-Brereton <civerachb@clearpathrobotics.com> Date: Thu Aug 5 12:08:19 2021 -0400 Add an empty config file + the HERON_CONFIG_EXTRAS envar, same as on the Husky. commit 51fa5b4 Author: Chris Iverach-Brereton <civerachb@clearpathrobotics.com> Date: Fri Feb 12 11:55:41 2021 -0500 0.3.4 commit 7521812 Author: Chris Iverach-Brereton <civerachb@clearpathrobotics.com> Date: Fri Feb 12 11:47:21 2021 -0500 Update changelogs ahead of release commit 125cb78 Author: Chris I-B <59611394+civerachb-cpr@users.noreply.github.com> Date: Tue Feb 2 16:02:29 2021 -0500 Fix disconnected thruster joints (#12) * Use a fixed joint for the thrusters unless we're in simulation; these joints are purely decorative outside gazebo, and the tf is not published except in simulation anyway * Remove superfluous .py; they were a copy & paste error commit f7db9ce Merge: b592e3e 2766fea Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Mon Feb 1 12:43:48 2021 -0800 Merge pull request #11 from heron/no-um6 Rename UM6 env vars to be generic IMU commit 2766fea Author: Chris Iverach-Brereton <civerachb@clearpathrobotics.com> Date: Mon Feb 1 15:20:27 2021 -0500 Rename the UM6 IMU env vars to remove the reference to UM6; make them generic IMU vars instead commit b592e3e Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Thu Sep 17 10:50:09 2020 -0400 [heron_description] Dropped --in-order arg from xacro since it is default in Melodic. commit 5bca3d4 Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Thu Sep 17 10:48:16 2020 -0400 [heron_description] Added xacro xml namespace prefix. commit e768534 Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Thu Sep 17 10:45:54 2020 -0400 [heron_description] Dropped .py on xacro since it is deprecated. commit 6d960f3 Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Thu Sep 17 10:17:29 2020 -0400 0.3.3 commit 78ed21d Author: Tony Baltovski <tbaltovski@clearpathrobotics.com> Date: Thu Sep 17 10:17:17 2020 -0400 Changes.
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Add a
simulationargument to the description.launch file; if that argument is false (default) then use a fixed joint for the thruster models.Currently the thruster models always use a continuous joint, but the tf for this joint is only published when running inside a simulation; on a physical robot rviz displays the thrusters incorrectly, which has resulted in some user & integrator confusion.
There's a related PR in heron_gazebo which specifically enables the
simulationargument to allow the sims to continue to work correctly.