Fix navigation #34
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Fix navigation #34
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Changes explanation
Here, for each file changed, I leave the explanation of the differences between this branch's last commit (75b5543) and the one prior to the changes of this fork (cfec47a)
Laser sensor: adjust max scan angle (360 → 359)
The front laser config reduces
max_anglefrom 360 to 359 degrees, likely to avoid overlap/duplication of the first and last ray when wrapping around a full circle (a common off-by-one issue in 360° scans).Added back laser sensor configuration file
Introduces a dedicated back laser INI with 360° sweep, 0.25° resolution, and skip window (57–303) to mask chassis/occlusions.
Added front laser sensor configuration file
Adds a dedicated front laser INI mirroring the rear’s ranges and resolution, with a different skip window (35–325).
New odometry device
Creates a wheel odometry device with wheel radius and track parameters, attached to the mobile base hardware.
Odometry network wrappers (ROS 2 and YARP)
Publishes odometry via both ROS 2 (
/odometry) and YARP ports; both attach to the same odometry device.Main robot config updates (
r1mk3.xml)Comments out FT sensor wrappers, adds consolidated motor-control wrappers (YARP + ROS 2), integrates odometry, and switches from a single lidar wrapper to front/back lidar wrappers plus a double-lidar combiner.
New double-lidar device (combines front & back scans)
Defines
cerDoubleLidarthat attaches tolaser_frontandlaser_back, exposing a unified scan with shared sensor parameters.New all-joints YARP control wrapper
Adds a consolidated YARP control board wrapper exposing all joints on
${portprefix}/all_joints.New front/back lidar YARP wrappers
Publishes separate front and back scans to
${portprefix}/laser/front:oand${portprefix}/laser/back:o.New mobile base mesh assets
Adds OBJ/MTL for a new mobile base body visual, enabling finer visuals than the previous STL.
URDF: new visuals, lidar layout, and sensor/arm tweaks
origin ... -0.16).URDF Changes (Detailed Explanations)
1) Mobile base visual: mesh swap & Z offset
Explanation:
2) Base collision surface: friction disabled
Explanation:
3) Separate lidar links (front, back, double)
Explanation:
4) Initial configurations (head & arm)
Explanation:
0.4 0.0startup pose.5) Laser plugin and config split
Explanation:
libgazebo_yarp_lasersensor.so.6) First ray sensor (front lidar)
Explanation:
lasersensor_frontwith matching INI.7) Second ray sensor (back lidar)
Explanation: