Add reling link

[rafal-gorecki]

Description

• Add mount_link and standarise cover_link.

Requirements

• Code style guidelines followed
• Documentation updated

Tests 🧪

• Robot
• Container
• Simulation

Summary by CodeRabbit

• New Features

  • Updated camera view settings in RViz, including focal point coordinates and yaw angle adjustments.
  • Added a new fixed joint and link to the robot model's URDF structure, enhancing connectivity between components.

• Bug Fixes

  • Adjusted the origin attribute for an existing joint to improve structural accuracy.
  • Suppressed marker visualization in the simulation to refine visual feedback during updates.

[coderabbitai]

Walkthrough

The pull request introduces modifications to configuration and robot description files across the Husarion UGV (Unmanned Ground Vehicle) project. Changes include updates to RViz configuration, specifically view settings, and modifications to URDF (Unified Robot Description Format) files for two robot models: Lynx and Panther. The updates involve adding a new joint and link to the robot's structural definition and adjusting some joint origin parameters. Additionally, a method in the LEDStrip class has been altered to suppress marker visualization during the update cycle.

Changes

File	Change Summary
husarion_ugv_description/rviz/husarion_ugv.rviz	Updated RViz view settings, resetting focal point coordinates to zero and changing Yaw value from ~1.37 to 3.7.
husarion_ugv_description/urdf/lynx/base.urdf.xacro	Added new fixed joint cover_to_mount_joint connecting cover_link to new mount_link.
husarion_ugv_description/urdf/panther/base.urdf.xacro	- Updated base_to_cover_joint origin from 0.1715 to 0.14 - Added new fixed joint cover_to_mount_joint connecting cover_link to mount_link.
husarion_ugv_gazebo/src/led_strip.cpp	Commented out VisualizeMarkers method call in PreUpdate, altering control flow to suppress marker visualization.

Possibly related PRs

• Changed add joints to use_joint_state_publisher | added joint state p… #470: This PR involves changes to the launch configuration related to joint state publishing, which may affect how the robot's visualization is set up in RViz, similar to the changes made in the main PR regarding the RViz configuration.

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📜 Recent review details

Configuration used: .coderabbit.yaml
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 8a4f413 and 4c73144.

📒 Files selected for processing (2)

• husarion_ugv_description/urdf/lynx/base.urdf.xacro (1 hunks)
• husarion_ugv_description/urdf/panther/base.urdf.xacro (1 hunks)

🚧 Files skipped from review as they are similar to previous changes (2)

• husarion_ugv_description/urdf/lynx/base.urdf.xacro
• husarion_ugv_description/urdf/panther/base.urdf.xacro

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[coderabbitai]

Actionable comments posted: 1

🧹 Nitpick comments (1)

husarion_ugv_description/urdf/lynx/base.urdf.xacro (1)

Line range hint 15-29: Track technical debt items

There are several TODO comments in the file that should be tracked:

• Missing collision mesh
• Inertia calculations needed

Would you like me to create GitHub issues to track these TODO items? This will help ensure they're properly addressed in future updates.

📜 Review details

Configuration used: .coderabbit.yaml
Review profile: CHILL
Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between a229d32 and d51d559.

📒 Files selected for processing (3)

• husarion_ugv_description/rviz/husarion_ugv.rviz (2 hunks)
• husarion_ugv_description/urdf/lynx/base.urdf.xacro (1 hunks)
• husarion_ugv_description/urdf/panther/base.urdf.xacro (1 hunks)

🔇 Additional comments (3)

husarion_ugv_description/urdf/panther/base.urdf.xacro (1)

83-83: Verify the height adjustment impact

The z-coordinate change from 0.1715 to 0.14 reduces the cover height by 31.5mm. Please ensure this modification doesn't affect:

• Physical clearance with internal components
• Compatibility with existing accessories/mounts

husarion_ugv_description/urdf/lynx/base.urdf.xacro (1)

118-124: Add physical properties to reling_link

The reling_link requires the same physical properties as suggested for the Panther model.

husarion_ugv_description/rviz/husarion_ugv.rviz (1)

188-190: LGTM: View adjustments look reasonable

The changes reset the focal point to the origin and adjust the view angle for better default visualization of the robot model.

Also applies to: 199-199

[delihus]

I checked both robots in rviz2 and LGTM