Modifications

[Arciro]

I have made some modifications:

• In ROS, it is common practice to place all configuration files (i.e., those with a .yaml extension) in a separate folder named config or cfg, you can see modifications in Write.py, when you read config instead of launch.
• Added a first line to the display, gazebo, and controller launch files to ensure proper color display when opened in a text editor, you can read f.write('\n') write functions for display, gazebo and controller.launch.
• The most significant changes were made to the controllers. After designing my robot in Fusion and exporting it, I noticed that, unfortunately, when launching the controller.launch file, the controllers were not being loaded. This happens for two main reasons:
  1. The name at the beginning of the controller.yaml file must match the ns argument of the controller_spawner node. For example, referring to the Example folder in this repository, it should be named basic_robot_controller instead of basic_robot (see modification in file Write.py for function write_control_launch).
  2. Inside the gazebo.xacro file, the gazebo_ros_control plugin must include two fields:
     • robotNamespace, which should match the previously mentioned name, i.e., "robot_name" + "_controller".
     • robotSimType, specifying the type of robot simulation. See modification for function write_gazebo_xacro at the beginning always in Write.py

Then i substituted CAD model in your folder Example with another one very similar because it had two problems:

1. axes were not well alligned, z-axis and y axis were inverted so when i displayed your robot in rviz and gazebo was rotated by 90 degrees
2. I decided to design it with bigger dimensions because robot was too small, so it had too low intertias,, and because of too high default PID gains values in controller.yaml, robot simulation crashed.

About last thing mentioned, i decided to add as tip in README file before to design a robot, and moreover i specified to use command joint, and not as build joint in Fusion 360, because i faced some problems for the generation of controller.yaml file when i used as build joint, and not joint for my robot.