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saved work, odom not right, to be fixed

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This commit is contained in:
Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
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5
scout_gazebo_sim/launch/scout_empty_world.launch
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@@ -12,7 +12,8 @@
<arg name="debug" value="false"/>
</include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_base.launch"></include>
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
</launch>

7
scout_gazebo_sim/launch/scout_playpen.launch
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@@ -37,7 +37,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="debug" value="false"/>
</include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2_sensors.launch"></include>
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> -->
</launch>

2
scout_gazebo_sim/launch/spawn_scout_v2.launch → scout_gazebo_sim/launch/spawn_scout_v2_base.launch
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@@ -5,7 +5,7 @@
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="robot_namespace" default="/"/>
<arg name="robot_namespace" default=""/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />

40
scout_gazebo_sim/launch/spawn_scout_v2_sensors.launch Normal file
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@@ -0,0 +1,40 @@
<launch>
<!-- initial pose -->
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="robot_namespace" default=""/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="true" />
<include file="$(find scout_description)/launch/scout_v2_sensors.launch">
<arg name="robot_namespace" value="$(arg robot_namespace)" />
</include>
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
-y $(arg y)
-z $(arg z)
-Y $(arg yaw)
-unpause
-urdf
-param robot_description
-model 'scout$(arg robot_namespace)'" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
</node>
</launch>