From 578d512de43292df93bdd0f5c4548a4119abb094 Mon Sep 17 00:00:00 2001
From: JesusSilvaUtrera <jsilvautrera@gmail.com>
Date: Wed, 20 Mar 2024 08:51:40 +0100
Subject: [PATCH 1/3] Fixed wheel diameter in URDF

---
 andino_gz_classic/urdf/andino_gz_classic.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/andino_gz_classic/urdf/andino_gz_classic.xacro b/andino_gz_classic/urdf/andino_gz_classic.xacro
index 22911df7..80598a23 100644
--- a/andino_gz_classic/urdf/andino_gz_classic.xacro
+++ b/andino_gz_classic/urdf/andino_gz_classic.xacro
@@ -67,7 +67,7 @@
 
       <!-- kinematics -->
       <wheel_separation>0.137</wheel_separation>
-      <wheel_diameter>0.035</wheel_diameter>
+      <wheel_diameter>0.0662</wheel_diameter>
 
       <!-- limits -->
       <max_wheel_torque>20</max_wheel_torque>

From df32b9f0ca0cfa55a66f379fdecf259ab0ccd67f Mon Sep 17 00:00:00 2001
From: JesusSilvaUtrera <jsilvautrera@gmail.com>
Date: Wed, 20 Mar 2024 10:48:09 +0100
Subject: [PATCH 2/3] Added YAML file for default camera intrinsics

---
 andino_bringup/config/camera_intrinsics.yaml |  5 +++++
 andino_bringup/launch/camera.launch.py       | 20 +++++++++++++++-----
 2 files changed, 20 insertions(+), 5 deletions(-)
 create mode 100644 andino_bringup/config/camera_intrinsics.yaml

diff --git a/andino_bringup/config/camera_intrinsics.yaml b/andino_bringup/config/camera_intrinsics.yaml
new file mode 100644
index 00000000..4ac53a06
--- /dev/null
+++ b/andino_bringup/config/camera_intrinsics.yaml
@@ -0,0 +1,5 @@
+v4l2_camera_node:
+  ros__parameters:
+    image_size: [640,480]
+    camera_frame_id: "camera_link"
+# Other info for this Raspberry Pi Camera Module V2 can be found here: https://elinux.org/Rpi_Camera_Module#Technical_Parameters_.28v.2_board.29
\ No newline at end of file
diff --git a/andino_bringup/launch/camera.launch.py b/andino_bringup/launch/camera.launch.py
index 5d60f9f7..cdb9bea5 100644
--- a/andino_bringup/launch/camera.launch.py
+++ b/andino_bringup/launch/camera.launch.py
@@ -30,17 +30,27 @@
 
 from launch import LaunchDescription
 from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+from os.path import join
+
+pkg_andino_bringup = get_package_share_directory('andino_bringup')
 
 def generate_launch_description():
-    return LaunchDescription([
+    # Declare launch argument for the path to the camera intrinsics YAML file
+    camera_intrinsics_file = DeclareLaunchArgument(
+        'camera_intrinsics_file',
+        default_value=join(pkg_andino_bringup, 'config', 'camera_intrinsics.yaml'),
+        description='Path to camera intrinsics YAML file'
+    )
 
+    return LaunchDescription([
+        camera_intrinsics_file,
         Node(
             package='v4l2_camera',
             executable='v4l2_camera_node',
             output='screen',
-            parameters=[{
-                'image_size': [640,480],
-                'camera_frame_id': 'camera_link'
-                }]
+            parameters=[LaunchConfiguration('camera_intrinsics_file')],
     )
     ])

From dfa13782c8b0b304c76708040fd31b5904989549 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jes=C3=BAs=20Silva?=
 <79662866+JesusSilvaUtrera@users.noreply.github.com>
Date: Wed, 20 Mar 2024 15:13:08 +0100
Subject: [PATCH 3/3] Fixed wheel diameter in URDF (#93) (#230)

Signed-off-by: JesusSilvaUtrera <jsilvautrera@gmail.com>
---
 andino_gz_classic/urdf/andino_gz_classic.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/andino_gz_classic/urdf/andino_gz_classic.xacro b/andino_gz_classic/urdf/andino_gz_classic.xacro
index 22911df7..80598a23 100644
--- a/andino_gz_classic/urdf/andino_gz_classic.xacro
+++ b/andino_gz_classic/urdf/andino_gz_classic.xacro
@@ -67,7 +67,7 @@
 
       <!-- kinematics -->
       <wheel_separation>0.137</wheel_separation>
-      <wheel_diameter>0.035</wheel_diameter>
+      <wheel_diameter>0.0662</wheel_diameter>
 
       <!-- limits -->
       <max_wheel_torque>20</max_wheel_torque>