Merge pull request #17 from traclabs/bugfix/demos-25-mars-rover-rviz

Updates to .xacro and .gazebo file to have the rover visible in Rviz
space-ros · Apr 30, 2024 · 5a67b1c · 5a67b1c
2 parents cd1eb01 + a010c9c
commit 5a67b1c
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Showing 7 changed files with 61 additions and 44 deletions.
diff --git a/models/curiosity_path/urdf/arm.xacro b/models/curiosity_path/urdf/arm.xacro
@@ -35,15 +35,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -113,15 +113,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_01_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_02_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_02_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -191,15 +191,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_03_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_03_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_03_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_03_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -270,15 +270,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_04_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -349,15 +349,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/arm_tools_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 

diff --git a/models/curiosity_path/urdf/chassis.xacro b/models/curiosity_path/urdf/chassis.xacro
@@ -25,15 +25,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/chassis_full_fixed_glitch_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/chassis_full_fixed_glitch_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/chassis_full_fixed_glitch_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/chassis_full_fixed_glitch_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 

diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -50,21 +50,27 @@
       <!-- Wheel Joints Interfaces-->
       <joint name="front_wheel_L_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />                    
       </joint>
       <joint name="middle_wheel_L_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />          
       </joint>
       <joint name="back_wheel_L_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />          
       </joint>
       <joint name="front_wheel_R_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />                    
       </joint>
       <joint name="middle_wheel_R_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />                    
       </joint>
       <joint name="back_wheel_R_joint">
           <command_interface name="velocity" />
+          <state_interface name="position" />          
       </joint>
       <!-- Steering Joints Interfaces-->
       <joint name="suspension_steer_F_L_joint">
@@ -112,6 +118,17 @@
           <state_interface name="velocity"/>
           <state_interface name="effort"/>
       </joint>
+
+      <!-- Passive joints - No command interface -->      
+      <joint name="suspension_arm_B2_L_joint">
+          <state_interface name="position"/>
+      </joint>
+
+      <joint name="suspension_arm_B2_R_joint">
+          <state_interface name="position"/>
+      </joint>
+
+
   </ros2_control>
 
   <gazebo>
@@ -301,4 +318,4 @@
     <mu2>0.3</mu2>
   </gazebo>
 
-</robot>
+</robot>
diff --git a/models/curiosity_path/urdf/left_wheel_group.xacro b/models/curiosity_path/urdf/left_wheel_group.xacro
@@ -9,15 +9,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/left_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/left_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/left_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/left_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -46,15 +46,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -95,15 +95,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -172,15 +172,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B2_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B2_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B2_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B2_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -250,15 +250,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_F_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -398,15 +398,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_B_L_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 

diff --git a/models/curiosity_path/urdf/right_wheel_group.xacro b/models/curiosity_path/urdf/right_wheel_group.xacro
@@ -8,15 +8,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/right_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/right_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/right_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/right_axis_jointfix_v2.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -44,15 +44,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -95,15 +95,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -172,15 +172,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B2_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B2_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_arm_B2_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_arm_B2_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -251,15 +251,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_F_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>
 
@@ -394,15 +394,15 @@
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</collision>
 
 		<visual>
 			<origin xyz="0 0 0"
 					rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="$(find simulation)/models/curiosity_path/meshes/suspension_steer_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
+				<mesh filename="package://simulation/models/curiosity_path/meshes/suspension_steer_B_R_fixed.dae" scale="${scale_XYZ} ${scale_XYZ} ${scale_XYZ}"/>
 			</geometry>
 		</visual>