Multi-Robot setup and detection #259
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ipa-srd-rd
commented
Sep 25, 2018
ipa-srd-rd
commented
- added a robot namespace for multi-robot cases, empty in single-robot case
- changed some box values for the robot because they'd block the laser scanners
| <gazebo> | ||
| <plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so"> | ||
| <robotNamespace>${name}</robotNamespace> | ||
| <robotNamespace>$(arg robot_namespace)/${name}</robotNamespace> |
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the default ("") changes the current behavior
i.e. it adds a leading /
I don't know the consequences, but I'd rather like to see that it defaults to current behavior without any change
this review comment applies for all base.urdf.xacro files
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That was my initial intention as well but I didn't see any bad implications of this implementation. Alternatively I could remove the / but then the argument robot_namespace needs a slash at the end. This seems wrong to me as well. If there is a better solution let me know, but I can't really think of one.
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foreseeing bad implications without having tested every possible usecase (mojin usecases) is tricky to tell
while not ideal, your alternative is less intrusive for everyone not using multirobot setup
| <geometry> | ||
| <mesh filename="package://raw_description/meshes/base/raw_base_long.stl"/> | ||
| <!--box size="1.04 0.58 0.31" /--> | ||
| <!--<box size="0.93 0.49 0.31" />--> |
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why the changes in a commented line?
this review comment applies to all files in this pr
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Because that's how my IDE does a comment in xml using shortcuts. I thought it wouldn't matter but I can change it back if it does.
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no I mean, why the values have changed while still being commented?
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the commented box geometry was used because @ipa-srd-rd relied on the robot's collision mesh being detected in other robots scans
obviously, the current mesh does not have the plastic side panels modeled and the current box mesh is covers the field of view of the laser scanners
best solution would be to add the plastic side panels to the base.urdf.xacro (as new links)
