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Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
jacobperron
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jacobperron
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Thanks for updates! I've left a few comments and questions below.
I've also re-targeted this to a new branch where we can add changes to support the next generation of Gazebo (versus Gazebo classic).
config/robot.urdf
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| <topic>cmd_vel</topic> | ||
| <odom_topic>odom</odom_topic> | ||
| </plugin> | ||
| <!-- <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller"> |
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I guess we can remove this commented plugin since we're replacing it will ignition-gazebo-diff-drive-system.
| exec="parameter_bridge" | ||
| name="$(anon ros_ign_bridge)" | ||
| output="screen" | ||
| args="/model/vehicle/odometry@nav_msgs/Odometry@ignition.msgs.Odometry /cmd_vel@geometry_msgs/Twist@ignition.msgs.Twist "> |
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@adityapande-1995 added support for OdometryWithCovariance and TwistWithCovariance in gazebosim/gz-msgs#224. I think those are the equivalent with the gazebo_ros_pkgs plugins, so maybe we should bridge those here instead?
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ros_ign bridge doesn't support that yet, the PR is approved but is blocked on CI : gazebosim/ros_gz#222
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Ah, thanks. Perhaps we can leave a TODO here to come back and update this once it is available.
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Just an update, that PR has been merged here : gazebosim/ros_gz#222
config/robot.urdf
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| </plugin> | ||
| <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller"> | ||
| </plugin> --> | ||
| <!-- <plugin filename="libgazebo_ros_p3d.so" name="p3d_base_controller"> |
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Can we just remove this plugin? Or is there something that's missing from Gazebo that we need here?
| </camera> | ||
| <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> | ||
| <ros> | ||
| <!-- <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> --> |
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I think we can remove this and bridge the relevant camera topics from Gazebo. Maybe @WilliamLewww can provide pointers for anything we should add to this file and/or topics that can be bridged.
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>
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Signed-off-by: Gonzalo de Pedro gonzalo@depedro.com.ar