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Added Ovis to gazebo/rviz simulations and downloaded repos #40

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Apr 6, 2024
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9 changes: 7 additions & 2 deletions README.md
Original file line number Diff line number Diff line change
Expand Up @@ -54,13 +54,18 @@ IF YOU ARE RUNNING IN WSL: do this command
```bash
export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1
```
Do these commands to run the simulation
Do these commands to run the gazebo simulation with physics enabled
```bash
colcon build --symlink-install
source install/setup.bash
ros2 launch rove_description sim.launch.py
```

OR Do these commands to only run the rviz simulation (with joints control)
```bash
colcon build --symlink-install
source install/setup.bash
ros2 launch rove_description launch.py
```

## Running the controller with a usb cable

Expand Down
5 changes: 5 additions & 0 deletions rove.repos
Original file line number Diff line number Diff line change
Expand Up @@ -3,3 +3,8 @@ repositories:
type: git
url: https://github.com/clubcapra/capra_gazebo.git
version: main
ovis_description:
type: git
url: https://github.com/clubcapra/ovis_ros2.git
version: master

8 changes: 8 additions & 0 deletions src/rove_description/urdf/rove.urdf.xacro
Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@
<xacro:include filename="$(find rove_description)/urdf/flipper.urdf.xacro" />
<xacro:include filename="$(find rove_description)/urdf/track.urdf.xacro" />

<xacro:include filename="$(find ovis_description)/urdf/ovis.urdf.xacro" />

<link name="base_footprint"/>

<link name="base_link">
Expand Down Expand Up @@ -46,4 +48,10 @@
<child link="base_link"/>
</joint>

<!-- Insert ovis on top of rove -->
<xacro:property name="robot_root" value="base_link" />
<xacro:property name="ovis_robot_namespace" value="rove" />
<xacro:property name="ovis_base_origin" value="-0.2 0 0.2" />
<xacro:ovis base_parent="${robot_root}" prefix="${ovis_robot_namespace}" joint_base_origin_xyz="${ovis_base_origin}" />

</robot>
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