gazebo fixes

mgonzs13 · Dec 10, 2023 · 4c334f8 · 4c334f8
1 parent 6e57923
commit 4c334f8
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Showing 7 changed files with 17 additions and 6 deletions.
diff --git a/rover_description/robots/rover.urdf.xacro b/rover_description/robots/rover.urdf.xacro
@@ -214,7 +214,7 @@ along with this program.  If not, see <https://www.gnu.org/licenses/>. -->
     </xacro:sensor_imu>
 
     <xacro:sensor_asus_xtion prefix="camera" parent="base_link">
-        <origin xyz="0.215 0 0.065" rpy="0 0.2 0"/>
+        <origin xyz="0.215 0 0.065" rpy="0 0.4 0"/>
         <!-- <origin xyz="0.212 0 0.065" rpy="0 0 0"/> -->
     </xacro:sensor_asus_xtion>
 

diff --git a/rover_gazebo/CMakeLists.txt b/rover_gazebo/CMakeLists.txt
@@ -44,7 +44,7 @@ install(TARGETS
 )
 
 install(
-  DIRECTORY launch worlds models rviz
+  DIRECTORY launch worlds models rviz config
   DESTINATION share/${PROJECT_NAME}
 )
 

diff --git a/rover_gazebo/config/gazebo.yaml b/rover_gazebo/config/gazebo.yaml
@@ -0,0 +1,3 @@
+gazebo:
+  ros__parameters:
+    publish_rate: 100.0
diff --git a/rover_gazebo/launch/gazebo.launch.py b/rover_gazebo/launch/gazebo.launch.py
@@ -107,7 +107,11 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
         ),
-        launch_arguments={"world": world, "pause": pause_gz}.items()
+        launch_arguments={
+            "world": world,
+            "pause": pause_gz,
+            "params_file": os.path.join(pkg_path, "config", "gazebo.yaml"),
+        }.items()
     )
 
     localization_cmd = IncludeLaunchDescription(

diff --git a/rover_gazebo/launch/moon.launch.py b/rover_gazebo/launch/moon.launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
         ),
         launch_arguments={"world": os.path.join(
             pkg_path, "worlds", "moon.world"),
-            "initial_pose_z": "2.4"}.items()
+            "initial_pose_z": "2.11"}.items()
     )
 
     ld = LaunchDescription()

diff --git a/rover_gazebo/models/moon/model.sdf b/rover_gazebo/models/moon/model.sdf
@@ -7,7 +7,7 @@
           <geometry>
             <heightmap>
               <uri>model://moon/materials/textures/moon.png</uri>
-              <size>100 100 7</size>
+              <size>100 100 6</size>
               <pos>0 0 0</pos>
             </heightmap>
           </geometry>
@@ -22,7 +22,7 @@
                 <size>1</size>
               </texture>
               <uri>model://moon/materials/textures/moon.png</uri>
-              <size>100 100 7</size>
+              <size>100 100 6</size>
               <pos>0 0 0</pos>
             </heightmap>
           </geometry>

diff --git a/rover_gazebo/worlds/moon.world b/rover_gazebo/worlds/moon.world
@@ -2,6 +2,10 @@
 <sdf version="1.4">
   <world name="default">
 
+    <plugin name="gazebo_ros_state" filename="libgazebo_ros_state.so">
+      <update_rate>1.0</update_rate>
+    </plugin>
+
     <light name="sun_directional" type="directional">
       <cast_shadows>true</cast_shadows>
       <pose>200 0 14 0 0 0</pose>