fix descriptions, add world file and add realsense_plugin to use in g…

…azebo
Interactics · Sep 30, 2020 · b546d58 · b546d58
1 parent a0840ba
commit b546d58
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Showing 12 changed files with 2,209 additions and 6 deletions.
diff --git a/bada_g2_description/launch/spawn.launch b/bada_g2_description/launch/spawn.launch
@@ -2,6 +2,9 @@
 <launch>
     <param name="robot_description" command="$(find xacro)/xacro $(find bada_g2_description)/urdf/bada_g2.xacro"/>
 
+
+    <arg name="world_name" default="$(find bada_g2_description)/worlds/robot_house.world"/>
+
     <arg name="x" default="0"/>
     <arg name="y" default="0"/>
     <arg name="z" default="0.5"/>
@@ -10,9 +13,10 @@
 	  <arg name="paused" value="false"/>
 	  <arg name="use_sim_time" value="true"/>
 	  <arg name="gui" value="true"/>
+          <arg name="world_name" value="$(arg world_name)"/>
 	</include>
 
     <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" output="screen"
-          args="-urdf -param robot_description -model my_first_robot -x $(arg x) -y $(arg y) -z $(arg z)" />
+          args="-urdf -param robot_description -model bada_robot -x $(arg x) -y $(arg y) -z $(arg z)" />
 
-</launch>
+</launch>
diff --git a/bada_g2_description/urdf/_d435.gazebo.xacro b/bada_g2_description/urdf/_d435.gazebo.xacro
@@ -30,8 +30,9 @@ This is the Gazebo URDF model for the Intel RealSense D435 camera
         <camera name="${camera_name}">
           <horizontal_fov>${69.4*deg_to_rad}</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1080</height>
+          <!--same with aligned_depth-->
+            <width>1280</width> <!--1920-->
+            <height>720</height> <!--1080-->
             <format>RGB_INT8</format>
           </image>
           <clip>

diff --git a/bada_g2_description/urdf/bada_g2.gazebo b/bada_g2_description/urdf/bada_g2.gazebo
@@ -62,8 +62,8 @@
           <horizontal>
             <samples>720</samples>
             <resolution>1</resolution>
-            <min_angle>1.57079632</min_angle>
-            <max_angle>-1.57079632</max_angle>
+            <min_angle>-1.57079632</min_angle>
+            <max_angle>1.57079632</max_angle>
           </horizontal>
         </scan>
         <range>