From 5e6b4f4569a6b07177e0b80891c7846a1a397a4e Mon Sep 17 00:00:00 2001
From: Matthew Hansen <12618239+mkhansenbot@users.noreply.github.com>
Date: Sat, 30 Dec 2023 01:06:51 +0000
Subject: [PATCH 1/3] Add odometry publisher to mars_rover model (#11).
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
---
.../urdf/curiosity_mars_rover.gazebo | 17 ++++++++++++++---
1 file changed, 14 insertions(+), 3 deletions(-)
diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index 63421cb..c209b6b 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -116,9 +116,20 @@
- robot_description
- robot_state_publisher
- $(find mars_rover)/config/mars_rover_control.yaml
+ robot_description
+ robot_state_publisher
+ $(find mars_rover)/config/mars_rover_control.yaml
+
+
+
+ /odom
+ /base_footprint
+ 10
+
+
+
+ ogre2
+ 0.9 0.753 0.66 1
From 504df16b1d52da3b3ba916d93cdf9ab4511f7c7b Mon Sep 17 00:00:00 2001
From: Matthew Hansen <12618239+mkhansenbot@users.noreply.github.com>
Date: Sat, 20 Jan 2024 22:03:03 +0000
Subject: [PATCH 2/3] Add base_link to mars_rover model (#11).
---
models/curiosity_path/urdf/chassis.xacro | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/models/curiosity_path/urdf/chassis.xacro b/models/curiosity_path/urdf/chassis.xacro
index 90ba576..8a9ebf4 100644
--- a/models/curiosity_path/urdf/chassis.xacro
+++ b/models/curiosity_path/urdf/chassis.xacro
@@ -5,10 +5,17 @@
+
-
+
+
+
+
+
+
+
From 650552619e0e3d43c4160f82010b586012b8e5a7 Mon Sep 17 00:00:00 2001
From: Matthew Hansen <12618239+mkhansenbot@users.noreply.github.com>
Date: Sat, 20 Jan 2024 22:07:57 +0000
Subject: [PATCH 3/3] Add lidar to mars_rover model (#11).
---
.../urdf/curiosity_mars_rover.gazebo | 37 ++++++++++++++++---
models/curiosity_path/urdf/sensor_mast.xacro | 26 +++++++++++++
2 files changed, 57 insertions(+), 6 deletions(-)
diff --git a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
index c209b6b..49720b4 100644
--- a/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
+++ b/models/curiosity_path/urdf/curiosity_mars_rover.gazebo
@@ -133,6 +133,37 @@
+
+ "
+ lidar_link
+ 0 0 0 0 0 0
+ scan
+ 10
+
+
+
+ 640
+ 1
+ -3.1416
+ 3.1416
+
+
+ 1
+ 0.01
+ 0
+ 0
+
+
+
+ 1.0
+ 20.0
+ 0.05
+
+
+ 1
+ true
+
+
@@ -157,12 +188,6 @@
1
image_raw
-
- ogre2
- 0.9 0.753 0.66 1
-
diff --git a/models/curiosity_path/urdf/sensor_mast.xacro b/models/curiosity_path/urdf/sensor_mast.xacro
index 2c084eb..5737d1a 100644
--- a/models/curiosity_path/urdf/sensor_mast.xacro
+++ b/models/curiosity_path/urdf/sensor_mast.xacro
@@ -268,6 +268,32 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Gazebo/Black
+
+
+
+
+
+
+
+