New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

V5 Gazebo Simulator Interfaces #6

Open

MaxxWilson opened this issue Jul 22, 2023 · 1 comment

Assignees

Labels

Collaborator

MaxxWilson commented Jul 22, 2023

Our simulation package should be migrated to interface directly with V5ActuatorCommand.msg and V5SensorUpdate.msg ROS topics.

This allows nodes in ghost_ros to be agnostic to the platform (hardware vs simulator)

MaxxWilson self-assigned this

MaxxWilson added the enhancement label

Collaborator Author

MaxxWilson commented Aug 13, 2023 •

edited

Loading

Working Notes:

I'd Sensors/Actuators in the same plugin so we can resolve motor encoder ports from the V5ActuatorCommand msg
Most general approach is to supply a matrix that maps from motor/encoders to gazebo joints. That way we can easily tweak ratios or add fancy mechanisms (differential, specifically lol) using the same interface.

MaxxWilson assigned melissajcruz

This was referenced Sep 9, 2023

Motor naming discrepancy #18

Closed

Feature/gazebo-sim-fixes #27

Merged

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment