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Straighten robot and minor estetic changes #33

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Merged
merged 7 commits into from
Jul 16, 2025
Merged

Straighten robot and minor estetic changes #33

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e4c9a73
Gps navigation Tutorial update
stevedanomodolor Jul 4, 2025
dd8a8da
revert back
stevedanomodolor Jul 7, 2025
68ea091
use bullet
stevedanomodolor Jul 15, 2025
5702a21
remove friction
stevedanomodolor Jul 15, 2025
d9b6fdc
cleanup
stevedanomodolor Jul 15, 2025
eb57579
remove unwanted pose
stevedanomodolor Jul 15, 2025
568ff6f
Merge branch 'ros-navigation:main' into feat/update_gps_tutorial
stevedanomodolor Jul 15, 2025
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64 changes: 43 additions & 21 deletions nav2_minimal_tb3_sim/urdf/gz_waffle_gps.sdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@
</mesh>
</geometry>
<material>
<diffuse>1 1 1</diffuse>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
</visual>

Expand Down Expand Up @@ -215,23 +215,23 @@
</geometry>
<surface>
<friction>
<ode>
<bullet>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
</bullet>
</friction>
<contact>
<ode>
<bullet>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</bullet>
</contact>
</surface>
</collision>
Expand All @@ -245,7 +245,7 @@
</mesh>
</geometry>
<material>
<diffuse>1 1 1</diffuse>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
</visual>
</link>
Expand Down Expand Up @@ -275,23 +275,23 @@
</geometry>
<surface>
<friction>
<ode>
<bullet>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
</bullet>
</friction>
<contact>
<ode>
<bullet>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</bullet>
</contact>
</surface>
</collision>
Expand All @@ -305,13 +305,13 @@
</mesh>
</geometry>
<material>
<diffuse>1 1 1</diffuse>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
</visual>
</link>

<link name='caster_back_right_link'>
<pose>-0.177 -0.064 -0.004 0 0 0</pose>
<pose>-0.177 -0.064 -0.004 -1.57 0 0</pose>
<inertial>
<mass>0.001</mass>
<inertia>
Expand All @@ -323,29 +323,41 @@
<izz>0.00001</izz>
</inertia>
</inertial>
<collision name='collision'>
<collision name='caster_back_right_collision'>
<geometry>
<sphere>
<radius>0.005000</radius>
<radius>0.0060000</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<bullet>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</bullet>
</contact>
</surface>
</collision>

<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.0060000</radius>
</sphere>
</geometry>
<material>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
</visual>
</link>

<link name='caster_back_left_link'>
<pose>-0.177 0.064 -0.004 0 0 0</pose>
<pose>-0.177 0.064 -0.004 -1.57 0 0</pose>

<inertial>
<mass>0.001</mass>
<inertia>
Expand All @@ -357,25 +369,35 @@
<izz>0.00001</izz>
</inertia>
</inertial>
<collision name='collision'>
<collision name='caster_back_left_collision'>
<geometry>
<sphere>
<radius>0.005000</radius>
<radius>0.0060000</radius>
</sphere>
</geometry>
<surface>
<contact>
<ode>
<bullet>
<soft_cfm>0</soft_cfm>
<soft_erp>0.2</soft_erp>
<kp>1e+5</kp>
<kd>1</kd>
<max_vel>0.01</max_vel>
<min_depth>0.001</min_depth>
</ode>
</bullet>
</contact>
</surface>
</collision>
<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.0060000</radius>
</sphere>
</geometry>
<material>
<diffuse>0.5 0.5 0.5</diffuse>
</material>
</visual>
</link>

<link name="camera_link">
Expand Down
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