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Proper tracks battery hotfix #2

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Merged
merged 1 commit into from
Jan 5, 2022
Merged

Proper tracks battery hotfix #2

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4 changes: 4 additions & 0 deletions submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
wheelSlip = ""
trackControllers = ""
trackLinks = ""
power_draining_topics = ""

for track in tracks
if useWheels
Expand All @@ -61,6 +62,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
</plugin>
HEREDOC
trackLinks += "<#{track}_track><link>#{track}_track</link></#{track}_track>"
power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{track}_track/track_cmd_vel</power_draining_topic>"
end
for flipper in flippersOfTrack[track]
if useWheels
Expand All @@ -86,6 +88,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
</plugin>
HEREDOC
trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
end
end
end
Expand Down Expand Up @@ -177,6 +180,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>4.95</power_load>
<start_on_motion>true</start_on_motion>
#{power_draining_topics}
</plugin>
<!-- Gas Sensor plugin -->
<plugin filename="libGasEmitterDetectorPlugin.so"
Expand Down
3 changes: 3 additions & 0 deletions submitted_models/ctu_cras_norlab_marv_sensor_config_1/launch/common.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
diff_drive = ""
trackControllers = ""
trackedVehicle = ""
power_draining_topics = ""
if num_wheels > 0
for wheel_num in 1..num_wheels
# we only want odometry from the first diffdrive
Expand Down Expand Up @@ -71,6 +72,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
</plugin>
HEREDOC
trackLinks += "<#{track}_track><link>#{flipper}_flipper</link></#{track}_track>"
power_draining_topics += "<power_draining_topic>/model/#{_name}/link/#{flipper}_flipper/track_cmd_vel</power_draining_topic>"
end
end
trackedVehicle += <<-HEREDOC
Expand Down Expand Up @@ -131,6 +133,7 @@ def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _add
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>9.9</power_load>
<start_on_motion>true</start_on_motion>
#{power_draining_topics}
</plugin>
<!-- Gas Sensor plugin -->
<plugin filename="libGasEmitterDetectorPlugin.so"
Expand Down