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Add reling link #474

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merged 5 commits into from
Jan 9, 2025
Merged

Add reling link #474

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d51d559
Add reling link
rafal-gorecki Dec 20, 2024
82de339
fix
rafal-gorecki Dec 20, 2024
8a4f413
Typos
rafal-gorecki Dec 20, 2024
4c73144
mount link
rafal-gorecki Dec 20, 2024
44610db
Undo
rafal-gorecki Jan 7, 2025
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8 changes: 4 additions & 4 deletions husarion_ugv_description/rviz/husarion_ugv.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -196,7 +196,7 @@ Visualization Manager:
Pitch: 0.5903985500335693
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.3703993558883667
Yaw: 3.7
Saved: ~
Window Geometry:
Displays:
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8 changes: 8 additions & 0 deletions husarion_ugv_description/urdf/lynx/base.urdf.xacro
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Expand Up @@ -115,5 +115,13 @@

<link name="cover_link" />

<joint name="cover_to_mount_joint" type="fixed">
<origin xyz="0.0 0.0 0.0315" rpy="0.0 0.0 0.0" />
<parent link="cover_link" />
<child link="mount_link" />
</joint>

<link name="mount_link" />

</xacro:macro>
</robot>
10 changes: 9 additions & 1 deletion husarion_ugv_description/urdf/panther/base.urdf.xacro
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Expand Up @@ -80,12 +80,20 @@
<link name="lights_channel_2_link" />

<joint name="base_to_cover_joint" type="fixed">
<origin xyz="0.0 0.0 0.1715" rpy="0.0 0.0 0.0" />
<origin xyz="0.0 0.0 0.14" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="cover_link" />
</joint>

<link name="cover_link" />

<joint name="cover_to_mount_joint" type="fixed">
<origin xyz="0.0 0.0 0.0315" rpy="0.0 0.0 0.0" />
<parent link="cover_link" />
<child link="mount_link" />
</joint>

<link name="mount_link" />

</xacro:macro>
</robot>
2 changes: 1 addition & 1 deletion husarion_ugv_gazebo/src/led_strip.cpp
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Expand Up @@ -60,7 +60,7 @@ void LEDStrip::PreUpdate(const gz::sim::UpdateInfo & info, gz::sim::EntityCompon
VisualizeLights(ecm, image);

auto light_pose = ecm.Component<gz::sim::components::Pose>(light_entity_)->Data();
VisualizeMarkers(image, light_pose);
// VisualizeMarkers(image, light_pose);
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last_update_time_ = current_time;
}
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