From d51d559aece9a08c700bfa24e8a53c535500eb3c Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 20 Dec 2024 16:01:44 +0100 Subject: [PATCH 1/5] Add reling link --- husarion_ugv_description/rviz/husarion_ugv.rviz | 8 ++++---- husarion_ugv_description/urdf/lynx/base.urdf.xacro | 8 ++++++++ husarion_ugv_description/urdf/panther/base.urdf.xacro | 10 +++++++++- 3 files changed, 21 insertions(+), 5 deletions(-) diff --git a/husarion_ugv_description/rviz/husarion_ugv.rviz b/husarion_ugv_description/rviz/husarion_ugv.rviz index 8d6a56c4..1fdafaad 100644 --- a/husarion_ugv_description/rviz/husarion_ugv.rviz +++ b/husarion_ugv_description/rviz/husarion_ugv.rviz @@ -185,9 +185,9 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 1.012673020362854 - Y: 0.033135633915662766 - Z: 0.347855806350708 + X: 0 + Y: 0 + Z: 0 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false @@ -196,7 +196,7 @@ Visualization Manager: Pitch: 0.5903985500335693 Target Frame: Value: Orbit (rviz) - Yaw: 1.3703993558883667 + Yaw: 3.7 Saved: ~ Window Geometry: Displays: diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro index 5b8f50df..32d40143 100644 --- a/husarion_ugv_description/urdf/lynx/base.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro @@ -115,5 +115,13 @@ + + + + + + + + diff --git a/husarion_ugv_description/urdf/panther/base.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro index 62bd86a8..8dbbe122 100644 --- a/husarion_ugv_description/urdf/panther/base.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/base.urdf.xacro @@ -80,12 +80,20 @@ - + + + + + + + + + From 82de3392883de71304762a35414d53e857650441 Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 20 Dec 2024 16:06:06 +0100 Subject: [PATCH 2/5] fix --- husarion_ugv_description/urdf/lynx/base.urdf.xacro | 2 +- husarion_ugv_description/urdf/panther/base.urdf.xacro | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro index 32d40143..58948387 100644 --- a/husarion_ugv_description/urdf/lynx/base.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro @@ -116,7 +116,7 @@ - + diff --git a/husarion_ugv_description/urdf/panther/base.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro index 8dbbe122..7d05ceb4 100644 --- a/husarion_ugv_description/urdf/panther/base.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/base.urdf.xacro @@ -88,7 +88,7 @@ - + From 8a4f4138b1613128bf6132a8bea04b85f39546ac Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 20 Dec 2024 16:46:18 +0100 Subject: [PATCH 3/5] Typos --- husarion_ugv_description/urdf/lynx/base.urdf.xacro | 6 +++--- husarion_ugv_description/urdf/panther/base.urdf.xacro | 6 +++--- husarion_ugv_gazebo/src/led_strip.cpp | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro index 58948387..6cb95d4a 100644 --- a/husarion_ugv_description/urdf/lynx/base.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro @@ -115,13 +115,13 @@ - + - + - + diff --git a/husarion_ugv_description/urdf/panther/base.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro index 7d05ceb4..dad044b3 100644 --- a/husarion_ugv_description/urdf/panther/base.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/base.urdf.xacro @@ -87,13 +87,13 @@ - + - + - + diff --git a/husarion_ugv_gazebo/src/led_strip.cpp b/husarion_ugv_gazebo/src/led_strip.cpp index c0984620..3aee76bd 100644 --- a/husarion_ugv_gazebo/src/led_strip.cpp +++ b/husarion_ugv_gazebo/src/led_strip.cpp @@ -60,7 +60,7 @@ void LEDStrip::PreUpdate(const gz::sim::UpdateInfo & info, gz::sim::EntityCompon VisualizeLights(ecm, image); auto light_pose = ecm.Component(light_entity_)->Data(); - VisualizeMarkers(image, light_pose); + // VisualizeMarkers(image, light_pose); last_update_time_ = current_time; } From 4c731440c4bb62f196dec51e871f624da9b8bdfc Mon Sep 17 00:00:00 2001 From: rafal-gorecki Date: Fri, 20 Dec 2024 20:33:14 +0100 Subject: [PATCH 4/5] mount link --- husarion_ugv_description/urdf/lynx/base.urdf.xacro | 6 +++--- husarion_ugv_description/urdf/panther/base.urdf.xacro | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/husarion_ugv_description/urdf/lynx/base.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro index 6cb95d4a..d12d3c4f 100644 --- a/husarion_ugv_description/urdf/lynx/base.urdf.xacro +++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro @@ -115,13 +115,13 @@ - + - + - + diff --git a/husarion_ugv_description/urdf/panther/base.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro index dad044b3..0077bce3 100644 --- a/husarion_ugv_description/urdf/panther/base.urdf.xacro +++ b/husarion_ugv_description/urdf/panther/base.urdf.xacro @@ -87,13 +87,13 @@ - + - + - + From 44610db184f6c301303549eff6f727dadacc6dd3 Mon Sep 17 00:00:00 2001 From: Rafal Gorecki <126687345+rafal-gorecki@users.noreply.github.com> Date: Tue, 7 Jan 2025 14:09:25 +0100 Subject: [PATCH 5/5] Undo --- husarion_ugv_gazebo/src/led_strip.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/husarion_ugv_gazebo/src/led_strip.cpp b/husarion_ugv_gazebo/src/led_strip.cpp index 3aee76bd..c0984620 100644 --- a/husarion_ugv_gazebo/src/led_strip.cpp +++ b/husarion_ugv_gazebo/src/led_strip.cpp @@ -60,7 +60,7 @@ void LEDStrip::PreUpdate(const gz::sim::UpdateInfo & info, gz::sim::EntityCompon VisualizeLights(ecm, image); auto light_pose = ecm.Component(light_entity_)->Data(); - // VisualizeMarkers(image, light_pose); + VisualizeMarkers(image, light_pose); last_update_time_ = current_time; }