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Fixes bug with odometry. #37

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merged 1 commit into from
Apr 24, 2024
Merged

Fixes bug with odometry. #37

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10 changes: 5 additions & 5 deletions andino_gz/config/bridge_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
gz_type_name: "gz.msgs.Clock"
direction: GZ_TO_ROS
- ros_topic_name: "/odom"
gz_topic_name: "/odom"
gz_topic_name: "/model/andino/odometry"
ros_type_name: "nav_msgs/msg/Odometry"
gz_type_name: "gz.msgs.Odometry"
direction: GZ_TO_ROS
Expand All @@ -14,22 +14,22 @@
gz_type_name: "gz.msgs.Pose_V"
direction: GZ_TO_ROS
- ros_topic_name: "/camera_info"
gz_topic_name: "/camera_info"
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/camera/camera_info"
ros_type_name: "sensor_msgs/msg/CameraInfo"
gz_type_name: "gz.msgs.CameraInfo"
direction: GZ_TO_ROS
- ros_topic_name: "/image_raw"
gz_topic_name: "/image_raw"
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/camera/image"
ros_type_name: "sensor_msgs/msg/Image"
gz_type_name: "gz.msgs.Image"
direction: GZ_TO_ROS
- ros_topic_name: "/scan"
gz_topic_name: "/scan"
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/sensor_ray_front/scan"
ros_type_name: "sensor_msgs/msg/LaserScan"
gz_type_name: "gz.msgs.LaserScan"
direction: GZ_TO_ROS
- ros_topic_name: "/scan/points"
gz_topic_name: "/scan/points"
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/sensor_ray_front/scan/points"
ros_type_name: "sensor_msgs/msg/PointCloud2"
gz_type_name: "gz.msgs.PointCloudPacked"
direction: GZ_TO_ROS
Expand Down
7 changes: 3 additions & 4 deletions andino_gz/urdf/andino_gz.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -6,12 +6,14 @@
<gazebo>
<plugin
filename="ignition-gazebo-diff-drive-system"
name="ignition::gazebo::systems::DiffDrive">
name="ignition::gazebo::systems::DiffDrive">
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<wheel_separation>0.137</wheel_separation>
<wheel_radius>0.0175</wheel_radius>
<odom_publish_frequency>1</odom_publish_frequency>
<frame_id>odom</frame_id>
<child_frame_id>base_link</child_frame_id>
</plugin>
</gazebo>

Expand All @@ -37,7 +39,6 @@
<stddev>0.01</stddev>
</noise>
</ray>
<topic>scan</topic>
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>20.0</update_rate>
Expand Down Expand Up @@ -70,8 +71,6 @@
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
<topic>image_raw</topic>
<camera_info_topic>camera_info</camera_info_topic>
</sensor>
</gazebo>

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2 changes: 1 addition & 1 deletion andino_gz/worlds/depot.sdf
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
<!-- Model taken from https://app.gazebosim.org/Fahadalbahoth/fuel/worlds/tugbot_depot -->
<world name='world_demo'>
<world name='gazebo_world'>
<physics name='1ms' type='ignored'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
Expand Down
2 changes: 1 addition & 1 deletion andino_gz/worlds/empty.sdf
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version='1.0' encoding='ASCII'?>
<sdf version='1.7'>
<world name='empty'>
<world name='gazebo_world'>
<physics name='1ms' type='ignored'>
<max_step_size>0.01</max_step_size>
<real_time_factor>1</real_time_factor>
Expand Down
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