Add odometry and lidar to mars_rover model for Nav2 #10
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I'm not a URDF/Gazebo expert but I'll mark the approved once I get my build working.
@quarkytale any input on this?
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Re-added background_color to the plugin parameters. Also fixed the odometry plugin name to be consistent with the other plugins |
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Looks good to me if the build works! |
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| <gazebo reference="lidar_link"> | ||
| <material>Gazebo/Black</material> |
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Not sure if this works as intended in the new Gazebo, I'm planning to try out this along with supporting PRs.
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Yeah, I'm not sure it does either because I saw a warning when I ran, but I also saw that the camera has a material specified
and I do see the lidar show up as black. If this is wrong let me know I can remove or change.
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Yeah the new Gazebo can't parse 'Gazebo/' materials, its recently added to Harmonic. For rendering green, you might need to change it to:
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
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@quarkytale - what if I remove the material tag entirely? If it isn't being parsed, I would guess it's ignored and it will make no technical difference if I remove it, except to clean up dead code, which is good.
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@quarkytale, @Bckempa - let me know how I should proceed so that I can get approval |
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@quarkytale @Bckempa @ivanperez-keera - I squashed my commits down to a minimal logical number and added the issue to the commit message I think the only thing unresolved are the Please review and approve. |
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Fix indentation for mars_rover control plugin Set odom publish frequency to 10 Fix plugin filename to be consistent re-add background_color to plugin parameters
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Adds odometry and lidar plugins to gazebo. Also adds base_link, lidar_link, and connecting joints required for nav2.