diff --git a/.gitignore b/.gitignore
index e0275ce..43ed185 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,6 +17,3 @@ CATKIN_IGNORE
*.swp
log/
test/
-
-# Unity
-# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d391842..641c36e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(new_bcr_robot)
find_package(ament_cmake REQUIRED)
install(DIRECTORY launch meshes models urdf worlds rviz
- DESTINATION share/${PROJECT_NAME}/
+ DESTINATION share/${PROJECT_NAME}/
)
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")
diff --git a/hooks/new_bcr_robot.sh.in b/hooks/new_bcr_robot.sh.in
index 4b9e00e..84256f3 100644
--- a/hooks/new_bcr_robot.sh.in
+++ b/hooks/new_bcr_robot.sh.in
@@ -1,9 +1,12 @@
# Default gazebo env variables
-FILE=/usr/share/gazebo/setup.bash
-if test -f "$FILE"; then
- source $FILE
+GAZEBO_CLASSIC_SOURCE_FILE=/usr/share/gazebo/setup.bash
+if test -f "$GAZEBO_CLASSIC_SOURCE_FILE"; then
+ source $GAZEBO_CLASSIC_SOURCE_FILE
+ # Adding our models to the GAZEBO_MODEL_PATH
+ ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
fi
-# Adding our models to the GAZEBO_MODEL_PATH
-ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
-
+GZ_FORTRESS_DIRECTORY=/usr/share/ignition
+if test -d "$GZ_FORTRESS_DIRECTORY"; then
+ ament_prepend_unique_value IGN_GAZEBO_RESOURCE_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
+fi
\ No newline at end of file
diff --git a/launch/gz.launch.py b/launch/gz.launch.py
index 058f62c..999d806 100644
--- a/launch/gz.launch.py
+++ b/launch/gz.launch.py
@@ -84,6 +84,19 @@ def generate_launch_description():
],
)
+ transform_publisher = Node(
+ package="tf2_ros",
+ executable="static_transform_publisher",
+ arguments = ["--x", "0.0",
+ "--y", "0.0",
+ "--z", "0.0",
+ "--yaw", "0.0",
+ "--pitch", "0.0",
+ "--roll", "0.0",
+ "--frame-id", "kinect_camera",
+ "--child-frame-id", "new_bcr_robot/base_link/kinect_camera"]
+ )
+
return LaunchDescription([
DeclareLaunchArgument("use_sim_time", default_value=use_sim_time),
DeclareLaunchArgument("world_file", default_value=world_file),
@@ -91,5 +104,6 @@ def generate_launch_description():
DeclareLaunchArgument("y", default_value="0.0"),
DeclareLaunchArgument("yaw", default_value="0.0"),
robot_state_publisher,
- gz_sim, gz_spawn_entity, gz_ros2_bridge
+ gz_sim, gz_spawn_entity, gz_ros2_bridge,
+ transform_publisher
])
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 69f43e7..245fa70 100644
--- a/package.xml
+++ b/package.xml
@@ -1,26 +1,26 @@
- new_bcr_robot
- 0.5.0
- new_bcr_robot
+ new_bcr_robot
+ 0.5.0
+ new_bcr_robot
- leander
+ leander
- (C) Black Coffee Robotics
+ (C) Black Coffee Robotics
- ament_cmake
+ ament_cmake
- ament_index_python
- launch
- launch_ros
- robot_state_publisher
- xacro
+ ament_index_python
+ launch
+ launch_ros
+ robot_state_publisher
+ xacro
- ament_cmake_gtest
- ament_lint_auto
- ament_lint_common
+ ament_cmake_gtest
+ ament_lint_auto
+ ament_lint_common
-
- ament_cmake
-
+
+ ament_cmake
+
\ No newline at end of file
diff --git a/urdf/gazebo.xacro b/urdf/gazebo.xacro
index 01037c1..469cff3 100644
--- a/urdf/gazebo.xacro
+++ b/urdf/gazebo.xacro
@@ -9,10 +9,10 @@
-
- $(arg robot_namespace)
- cmd_vel:=cmd_vel
- odom:=odom
+
+ $(arg robot_namespace)
+ cmd_vel:=cmd_vel
+ odom:=odom
false
50.0
@@ -28,7 +28,6 @@
$(arg publish_wheel_odom_tf)
false
true
-
5.0
@@ -66,7 +65,6 @@
-
@@ -125,9 +123,7 @@
-
-
0 0 0 0 0 0
true
@@ -154,7 +150,6 @@
-
diff --git a/urdf/macros.xacro b/urdf/macros.xacro
index 134b3e8..2baf6c8 100644
--- a/urdf/macros.xacro
+++ b/urdf/macros.xacro
@@ -3,93 +3,88 @@
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- 0.0
-
-
-
-
-
-
-
-
-
-
-
- Gazebo/Black
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- 5.0
-
-
-
-
-
-
-
-
-
-
- Gazebo/Black
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0.0
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 5.0
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
\ No newline at end of file
diff --git a/urdf/materials.xacro b/urdf/materials.xacro
index 38077c2..15bf77c 100644
--- a/urdf/materials.xacro
+++ b/urdf/materials.xacro
@@ -1,56 +1,56 @@
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
-
-
-
+
+
+
\ No newline at end of file