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Rishav-NRishav-N
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Minor visual changes for sim filming (#77)
1 parent acd7b10 commit 2e0abf3

4 files changed

Lines changed: 34 additions & 59 deletions

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‎src/description/urdf/athena_drive.urdf.xacro‎

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@@ -57,7 +57,7 @@
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<xacro:ground_truth_odometry robot_base_frame="base_footprint"/>
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<xacro:zed_camera_sensor parent="base_footprint" camera_name="zed" sim_gazebo="$(arg sim_gazebo)">
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<origin xyz=".5 0.1 0.1" rpy="0 0 0"/>
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<origin xyz=".3 -0.123 0.073" rpy="0 0 0"/>
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</xacro:zed_camera_sensor>
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<xacro:if value="$(arg use_mock_hardware)">

‎src/description/urdf/athena_drive_description.urdf.xacro‎

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@@ -3,16 +3,23 @@
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="rover_silver">
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<color rgba="0.40 0.42 0.45 1.0"/>
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</material>
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<material name="rover_dark_red">
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<color rgba="0.45 0.05 0.05 1.0"/>
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</material>
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<xacro:macro name="description">
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<link name="base_link">
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<visual>
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<origin xyz="-0.775305042176281 0.0692748019047986 0.475175318827691" rpy="0 0 -0.094743" />
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<geometry>
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<mesh filename="package://description/meshes/chassis_base_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="-0.775305042176281 0.0692748019047986 0.475175318827691" rpy="0 0 -0.094743" />
@@ -33,9 +40,7 @@
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<geometry>
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<mesh filename="package://description/meshes/suspension_left_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -65,9 +70,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_front_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -95,9 +98,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_module_front_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -126,9 +127,7 @@
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<geometry>
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<mesh filename="package://description/meshes/bracket_front_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -156,9 +155,7 @@
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<geometry>
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<mesh filename="package://description/meshes/wheel_front_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1" />
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</material>
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<material name="rover_dark_red" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -186,9 +183,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_back_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -216,9 +211,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_module_back_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -247,9 +240,7 @@
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<geometry>
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<mesh filename="package://description/meshes/bracket_back_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -277,9 +268,7 @@
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<geometry>
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<mesh filename="package://description/meshes/wheel_back_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_dark_red" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -307,9 +296,7 @@
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<geometry>
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<mesh filename="package://description/meshes/suspension_right_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -338,9 +325,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_front2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -368,9 +353,7 @@
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<geometry>
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<mesh filename="package://description/meshes/swerve_module_front2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -399,9 +382,7 @@
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<geometry>
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<mesh filename="package://description/meshes/bracket_front2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
@@ -429,9 +410,7 @@
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<geometry>
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<mesh filename="package://description/meshes/wheel_front2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_dark_red" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://description/meshes/swerve_back2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://description/meshes/swerve_module_back2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://description/meshes/bracket_back2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_silver" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://description/meshes/wheel_back2_link.STL" />
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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<material name="rover_dark_red" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />

‎src/description/urdf/zed_macro_sim.urdf.xacro‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@
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<mesh filename="file://$(find description)/meshes/zed2i.stl"/>
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</geometry>
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<material name="zed_mat">
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<color rgba="0.25 0.25 0.25 1.0"/>
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<color rgba="0.08 0.08 0.08 1.0"/>
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</material>
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</visual>
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<collision>

‎src/description/worlds/terrain_world.sdf‎

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Original file line numberDiff line numberDiff line change
@@ -32,5 +32,9 @@
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<uri>model://boulder</uri>
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<pose>5.7181 -1.4069 -24.2377 0 0 0</pose>
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</include>
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<include>
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<uri>model://marker0</uri>
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<pose>3 3 -24.2377 0 0 0</pose>
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</include>
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</world>
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</sdf>

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