Commit 986e58f9 authored by Paul Rouanet's avatar Paul Rouanet
Browse files

Changes about compilation fails

parent 14bd7951
......@@ -36,7 +36,7 @@ def generate_launch_description():
declared_arguments.append(
DeclareLaunchArgument(
"description_file",
default_value="system_bolt.urdf.xacro",
default_value="system_bolt_description.urdf.xacro",
description="URDF/XACRO description file with the robot.",
)
)
......@@ -119,6 +119,7 @@ def generate_launch_description():
[FindPackageShare(description_package), "rviz", "rrbot.rviz"]
)
print (robot_description)
control_node = Node(
package="controller_manager",
executable="ros2_control_node",
......@@ -156,10 +157,10 @@ def generate_launch_description():
nodes = [
control_node,
robot_state_pub_node,
rviz_node,
joint_state_broadcaster_spawner,
robot_controller_spawner,
#robot_state_pub_node,
#rviz_node,
#joint_state_broadcaster_spawner,
#robot_controller_spawner,
]
return LaunchDescription(declared_arguments + nodes)
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="system_bolt_ros2_control" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0">
<xacro:macro name="system_bolt_ros2_control" params="name prefix use_sim:=^|false use_fake_hardware:=^|true fake_sensor_commands:=^|false slowdown:=2.0 enp3s0:=^|enp3s0 true:=^|true false:=^|false">
<ros2_control name="${name}" type="system">
......
......@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" name="bolt">
<!-- See TODO: add the wiki link here -->
<!-- See TODO add the wiki link here -->
<!-- These are absolute distance value, the sign are decided below -->
<xacro:property name="base_2_HAA_x" value="${0.0 * 0.001}" />
<xacro:property name="base_2_HAA_y" value="${63.6 * 0.001}" />
......@@ -55,7 +55,7 @@
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}_SHOULDER">
<!-- TODO: Update inertias and add visuals for link. -->
<!-- TODO Update inertias and add visuals for link. -->
<!-- create a dummy shoulder link to join the two joints -->
<inertial>
......@@ -221,7 +221,7 @@
</link>
<!-- END UPPER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<!-- KFE Joint between the upper leg and the lower leg -->
<joint name="${prefix}_KFE" type="revolute">
<parent link="${prefix}_UPPER_LEG"/>
<child link="${prefix}_LOWER_LEG"/>
......@@ -325,7 +325,7 @@
</link>
<!-- END LOWER LEG LINK -->
<!-- KFE: Joint between the upper leg and the lower leg -->
<!-- KFE Joint between the upper leg and the lower leg -->
<joint name="${prefix}_ANKLE" type="${ankle_joint_type}">
<parent link="${prefix}_LOWER_LEG"/>
<child link="${prefix}_FOOT"/>
......
......@@ -13,7 +13,7 @@ https://github.com/open-dynamic-robot-initiative/robot_properties_bolt/blob/mast
<xacro:macro name="bolt_full" params="mesh_ext color_name color opacity new_leg has_passive_ankle">
<!-- This file is based on: https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
<!-- This file is based on https://atlas.is.localnet/confluence/display/AMDW/Quadruped+URDF+Files -->
<link name="base_link">
<!-- BASE LINK INERTIAL -->
<inertial>
......
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