Charles padawan #125
Charles padawan #125
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@jlurgo add a description to the PR and change the name of the title. |
ca_description/urdf/dock/dock.xacro
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| <xacro:macro name="dock" params="width"> | ||
| <link name='back'> | ||
| <visual name='visual'> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> |
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Origin tags with all their components in 0 are not necessary since its the default value, so please remove them.
ca_description/urdf/dock/dock.xacro
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| </link> | ||
| <link name='base'> | ||
| <visual name='visual'> | ||
| <origin xyz="0 ${width/2 - width/6} ${-(width * 2/3)/2}" rpy="0 0 0" /> |
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Since rpy=0 0 0, you can use this:
<origin xyz="0 ${width/2 - width/6} ${-(width * 2/3)/2}"/>
ca_description/urdf/dock/dock.xacro
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| <child link="base" /> | ||
| </joint> | ||
| </xacro:macro> | ||
| <xacro:dock width="0.15"> |
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Think about this like a library, where you create a function (in this case, the dock macro) and in the same place you use it. That's not correct. What you should do is to create a new file using this macro.
| @@ -0,0 +1,13 @@ | |||
| <launch> | |||
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This file is not necessary. Add the dock to the empty world and spawn it with an environment variable DOCK. You will also need to declare the initial pose for each environment.
| @@ -1,7 +1,8 @@ | |||
| <launch> | |||
| <arg name="env" default="empty"/> | |||
| <arg name="localization" default="$(optenv LOCALIZATION none)"/> | |||
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These changes are not related to your PR.
| @@ -0,0 +1,80 @@ | |||
| #include <ros/ros.h> | |||
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Is this the plugin that you're using to detect whether the robot is docker or not?
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