-
Notifications
You must be signed in to change notification settings - Fork 7
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Support for multi robot simulation (#51)
* Multi robot configuration Signed-off-by: Franco Cipollone <[email protected]> * Add some todos Signed-off-by: Franco Cipollone <[email protected]> * Fixes scope of arguments. Signed-off-by: Franco Cipollone <[email protected]> * Fixes format. Signed-off-by: Franco Cipollone <[email protected]> * Updates documentation. Signed-off-by: Franco Cipollone <[email protected]> * Updates docs Signed-off-by: Franco Cipollone <[email protected]> * Some fixes to readme file/. Signed-off-by: Franco Cipollone <[email protected]> --------- Signed-off-by: Franco Cipollone <[email protected]>
- Loading branch information
1 parent
0dc6248
commit bf6e19c
Showing
12 changed files
with
246 additions
and
141 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -1,46 +1,44 @@ | ||
- ros_topic_name: "/clock" | ||
gz_topic_name: "/clock" | ||
ros_type_name: "rosgraph_msgs/msg/Clock" | ||
gz_type_name: "gz.msgs.Clock" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/odom" | ||
gz_topic_name: "/model/andino/odometry" | ||
# Placeholders to be rewritten by launch file: | ||
# - <entity> : Should be replaced by entity name: For example "andino", "andino_1", "andino_2". | ||
|
||
- ros_topic_name: "odom" | ||
gz_topic_name: "/model/<entity>/odometry" | ||
ros_type_name: "nav_msgs/msg/Odometry" | ||
gz_type_name: "gz.msgs.Odometry" | ||
direction: GZ_TO_ROS | ||
# odom <-> base_link transform | ||
- ros_topic_name: "/tf" | ||
gz_topic_name: "/model/andino/pose" | ||
- ros_topic_name: "tf" | ||
gz_topic_name: "/model/<entity>/pose" | ||
ros_type_name: "tf2_msgs/msg/TFMessage" | ||
gz_type_name: "gz.msgs.Pose_V" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/joint_states" | ||
gz_topic_name: "/world/gazebo_world/model/andino/joint_state" | ||
- ros_topic_name: "joint_states" | ||
gz_topic_name: "/world/gazebo_world/model/<entity>/joint_state" | ||
ros_type_name: "sensor_msgs/msg/JointState" | ||
gz_type_name: "gz.msgs.Model" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/camera_info" | ||
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/camera/camera_info" | ||
- ros_topic_name: "camera_info" | ||
gz_topic_name: "/world/gazebo_world/model/<entity>/link/base_link/sensor/camera/camera_info" | ||
ros_type_name: "sensor_msgs/msg/CameraInfo" | ||
gz_type_name: "gz.msgs.CameraInfo" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/image_raw" | ||
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/camera/image" | ||
- ros_topic_name: "image_raw" | ||
gz_topic_name: "/world/gazebo_world/model/<entity>/link/base_link/sensor/camera/image" | ||
ros_type_name: "sensor_msgs/msg/Image" | ||
gz_type_name: "gz.msgs.Image" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/scan" | ||
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/sensor_ray_front/scan" | ||
- ros_topic_name: "scan" | ||
gz_topic_name: "/world/gazebo_world/model/<entity>/link/base_link/sensor/sensor_ray_front/scan" | ||
ros_type_name: "sensor_msgs/msg/LaserScan" | ||
gz_type_name: "gz.msgs.LaserScan" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/scan/points" | ||
gz_topic_name: "/world/gazebo_world/model/andino/link/base_link/sensor/sensor_ray_front/scan/points" | ||
- ros_topic_name: "scan/points" | ||
gz_topic_name: "/world/gazebo_world/model/<entity>/link/base_link/sensor/sensor_ray_front/scan/points" | ||
ros_type_name: "sensor_msgs/msg/PointCloud2" | ||
gz_type_name: "gz.msgs.PointCloudPacked" | ||
direction: GZ_TO_ROS | ||
- ros_topic_name: "/cmd_vel" | ||
gz_topic_name: "/model/andino/cmd_vel" | ||
- ros_topic_name: "cmd_vel" | ||
gz_topic_name: "/model/<entity>/cmd_vel" | ||
ros_type_name: "geometry_msgs/msg/Twist" | ||
gz_type_name: "gz.msgs.Twist" | ||
direction: ROS_TO_GZ |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file was deleted.
Oops, something went wrong.
Oops, something went wrong.