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Multi-Robot setup and detection #259

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Multi-Robot setup and detection #259

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9ade269
Added possibility to start controllers in a specified namespace, in a…
ipa-srd-rd Mar 9, 2018
6883b1d
Merge remote-tracking branch 'origin-ipa320/indigo_dev' into feature/…
ipa-srd-rd Mar 9, 2018
8997e0c
Changed raw model to box.
ipa-srd-rd May 31, 2018
296432d
Merge remote-tracking branch 'ipa320/indigo_dev' into feature/multi_r…
dietriro Jun 11, 2018
41bd426
Updated stuff for raw3-1 and ipp.
ipa-srd-rd Jun 13, 2018
138f64c
Merge branch 'feature/multi_robot' into personal/multi_robot
dietriro Jul 31, 2018
ea9cce9
Merge remote-tracking branch 'origin-ipa320/indigo_dev' into personal…
ipa-srd-rd Sep 24, 2018
5795ee2
Changed base back to stl
ipa-srd-rd Sep 24, 2018
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4 changes: 3 additions & 1 deletion cob_description/urdf/cob4_base/base.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@

<xacro:property name="base_mass" value="100" />

<xacro:arg name="robot_namespace" default="" />


<xacro:macro name="base" params="name tricycle_mode:=false forward:=true">

Expand Down Expand Up @@ -126,7 +128,7 @@
<!-- ros_control plugin -->
<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

<filterJointsParam>joint_names</filterJointsParam>
</plugin>
</gazebo>
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6 changes: 4 additions & 2 deletions raw_description/urdf/base_long/base.urdf.xacro
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Expand Up @@ -28,6 +28,8 @@
<xacro:property name="battery_size_y" value="0.148" />
<xacro:property name="battery_size_z" value="0.26" />

<xacro:arg name="robot_namespace" default="" />

<!-- battery macros-->
<xacro:macro name="cob_batteries" params="name parent *origin ">
<joint name="${name}_battery_joint" type="fixed">
Expand Down Expand Up @@ -84,7 +86,7 @@
<origin xyz="0 0 0.209" rpy="0 0 0" />
<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)

</geometry>
</collision>
</link>
Expand Down Expand Up @@ -121,7 +123,7 @@
<!-- ros_control plugin -->
<gazebo>
<plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
<robotNamespace>${name}</robotNamespace>
<robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
<filterJointsParam>joint_names</filterJointsParam>
</plugin>
</gazebo>
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7 changes: 5 additions & 2 deletions raw_description/urdf/base_short/base.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@
<xacro:property name="battery_size_y" value="0.148" />
<xacro:property name="battery_size_z" value="0.26" />

<xacro:arg name="robot_namespace" default="" />


<!-- battery macros-->
<xacro:macro name="cob_batteries" params="name parent *origin ">
Expand Down Expand Up @@ -85,13 +87,14 @@
<origin xyz="0 0 0.209" rpy="0 0 0" />
<geometry>
<mesh filename="package://raw_description/meshes/base/raw_base_short.dae"/>
<!--<box size="0.688 0.503 0.096"/>-->
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.209" rpy="0 0 0" />
<geometry>
<mesh filename="package://raw_description/meshes/base/raw_base_short.stl"/>
<!--box size="0.758 0.573 0.096"/-->
<!--<box size="0.678 0.493 0.096"/>-->
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -123,7 +126,7 @@
<!-- ros_control plugin -->
<gazebo>
<plugin name="ros_control" filename="libhwi_switch_gazebo_ros_control.so">
<robotNamespace>${name}</robotNamespace>
<robotNamespace>$(arg robot_namespace)/${name}</robotNamespace>
<filterJointsParam>joint_names</filterJointsParam>
</plugin>
</gazebo>
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