Commit bb89241c authored by Ricardo Rico Uribe's avatar Ricardo Rico Uribe
Browse files

fixed plugin - error in topic advertisements

parent 4120d958

README.md

+9 −2
Original line number Original line Diff line number Diff line
@@ -10,7 +10,7 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an 




## Usage

## Usage

### modify wind and waves

### modify wind and waves

  in the ocean.world.xacro you have found in /vrx_gazebo/worlds

  in the ocean.world.xacro (/vrx_gazebo/worlds) you have

  ```xml

  ```xml

  <!--Waves-->

  <!--Waves-->

  <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>

  <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
@@ -40,8 +40,15 @@ in the workspace run the command at the beginning (and every time you change a p 
then launch the file you created

then launch the file you created





  ```bash

  ```bash

  roslaunch aquanaute_gazebo world.launch

  roslaunch aquanaute_gazebo aquanaute.launch testing:=false

  ```

  ```

  this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world)



on another terminal (inside the ardupilot root) run

  ```bash

  ./Tools/autotest/sim_vehicle.py --vehicle=Rover --frame=sailboat-motor --map --console --location=Xlac

  ```



## Author

## Author

Ricardo RICO URIBE intern at U2IS in the summer of 2020

Ricardo RICO URIBE intern at U2IS in the summer of 2020

aquanaute_description/launch/description.launch

+1 −1
Original line number Original line Diff line number Diff line
@@ -5,7 +5,7 @@ 




  <!-- send fake joint values -->

  <!-- send fake joint values -->

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

    <param name="use_gui" value="false"/>

    <param name="use_gui" value="true"/>

  </node>

  </node>





  <!-- Combine joint values -->

  <!-- Combine joint values -->

aquanaute_description/models/meshes/Propeller.stl

0 → 100644
+52.1 KiB

File added.

No diff preview for this file type.

View file

aquanaute_description/urdf/aquanaute_description.urdf.xacro

+18 −12
Original line number Original line Diff line number Diff line
@@ -128,24 +128,30 @@ 
            <geometry>

            <geometry>

                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>

                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>

            </geometry>

            </geometry>

            <material name="purple"/>

            <material name="black"/>

        </visual>

        </visual>

    </link>

    </link>





    <link name="propeller_link">

    <link name="propeller_link">

        <inertial>

            <origin xyz="-0.034 0 0" rpy="0 0 0"/>

            <mass value="0.233"/>

            <inertia ixx="1.441e-04" ixy="4.406e-09" ixz="0.00" iyy="1.760e-04"	iyz="2.373e-06" izz="1.961e-04"/>

        </inertial>



        <collision>

        <collision>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <origin xyz="0 0 0" rpy="0 0 0"/>

            <geometry>

            <geometry>

                <cylinder radius="0.05" length="0.04"/>

                <mesh filename="package://aquanaute_description/models/meshes/Propeller.stl"/>

            </geometry>

            </geometry>

        </collision>

        </collision>





        <visual>

        <visual>

            <origin rpy="0 0 0" xyz="0 0 0"/>

            <origin rpy="0.0 0 0" xyz="0 0 0"/>

            <geometry>

            <geometry>

                <cylinder radius="0.04" length="0.05"/>

                <mesh filename="package://aquanaute_description/models/meshes/Propeller.stl"/>

            </geometry>

            </geometry>

            <material name="black"/>

            <material name="blue"/>

        </visual>

        </visual>

    </link>

    </link>
@@ -168,7 +174,7 @@ 
            <geometry>

            <geometry>

                <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>

                <mesh filename="package://aquanaute_description/models/meshes/sensor_frame.stl"/>

            </geometry>

            </geometry>

            <material name="cyan"/>

            <material name="white"/>

        </visual>

        </visual>

    </link>

    </link>
@@ -206,15 +212,15 @@ 
        <child link="motor_link"/>

        <child link="motor_link"/>

        <origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>

        <origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>

        <axis xyz="0 0 1"/>

        <axis xyz="0 0 1"/>

        <limit effort="-1" velocity="-1" lower="-0.9" upper="0.9"/>

        <limit effort="1" velocity="1" lower="-0.9" upper="0.9"/>

    </joint>

    </joint>





    <joint name="propeller_motor_joint" type="fixed">

    <joint name="propeller_motor_joint" type="revolute">

        <parent link="motor_link"/>

        <parent link="motor_link"/>

        <child link="propeller_link"/>

        <child link="propeller_link"/>

        <origin xyz="-0.5 0 0.42" rpy="0 1.57 0"/>

        <origin xyz="-0.265 0 -0.42" rpy="0 0 0"/>

        <axis xyz="0 0 1"/>

        <axis xyz="1 0 0"/>

        <limit effort="-1" velocity="-1" lower="-1e+16" upper="1e+16"/>

        <limit effort="1" velocity="1" lower="-1e+16" upper="1e+16"/>

    </joint>

    </joint>





    <joint name="sensor_frame_platform_joint" type="fixed">

    <joint name="sensor_frame_platform_joint" type="fixed">
@@ -226,6 +232,6 @@ 
    <joint name="imu_platform_joint" type="fixed">

    <joint name="imu_platform_joint" type="fixed">

        <parent link="platform_link"/>

        <parent link="platform_link"/>

        <child link="imu_link"/>

        <child link="imu_link"/>

        <origin xyz="0 0 0.1" rpy="0 0 0"/>

        <origin xyz="0 0 0.02" rpy="0 0 0"/>

    </joint>

    </joint>

</robot>
 
</robot>