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Minor fixes on ROS Noetic #3

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Minor fixes on ROS Noetic #3

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2 changes: 1 addition & 1 deletion ackermann_vehicle_description/launch/ackermann_vehicle.launch
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Expand Up @@ -26,7 +26,7 @@ limitations under the License.
<group ns="$(arg namespace)">
<!-- robot_description is used by nodes that publish to joint_states. -->
<param name="robot_description"
command="$(find xacro)/xacro.py $(find ackermann_vehicle_description)/urdf/em_3905.urdf.xacro"/>
command="$(find xacro)/xacro $(find ackermann_vehicle_description)/urdf/em_3905.urdf.xacro"/>

<!-- Read joint positions from joint_states, then publish the vehicle's
state to tf. -->
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18 changes: 12 additions & 6 deletions ackermann_vehicle_description/urdf/em_3905.urdf.xacro
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Expand Up @@ -232,9 +232,11 @@ limitations under the License.
</joint>
<transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${lr_prefix}_${fr_prefix}_shock"/>
<joint name="${lr_prefix}_${fr_prefix}_shock">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${lr_prefix}_${fr_prefix}_shock_act">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand All @@ -257,9 +259,11 @@ limitations under the License.
</joint>
<transmission name="${lr_prefix}_${fr_prefix}_axle_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${lr_prefix}_${fr_prefix}_axle"/>
<joint name="${lr_prefix}_${fr_prefix}_axle">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${lr_prefix}_${fr_prefix}_axle_act">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
Expand Down Expand Up @@ -316,9 +320,11 @@ limitations under the License.
</joint>
<transmission name="${lr_prefix}_steering_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${lr_prefix}_steering_joint"/>
<joint name="${lr_prefix}_steering_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${lr_prefix}_steering_act">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
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1 change: 1 addition & 0 deletions ackermann_vehicle_gazebo/CMakeLists.txt
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Expand Up @@ -2,3 +2,4 @@ cmake_minimum_required(VERSION 2.8.3)
project(ackermann_vehicle_gazebo)
find_package(catkin REQUIRED)
catkin_package()
catkin_install_python(PROGRAMS nodes/ackermann_controller.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
4 changes: 2 additions & 2 deletions ackermann_vehicle_gazebo/nodes/ackermann_controller.py
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Expand Up @@ -176,7 +176,7 @@ def __init__(self):
continue

pub = rospy.Publisher(ctrlr_name + "/command", Float64,
latch=True)
queue_size=10, latch=True)
_wait_for_ctrlr(list_ctrlrs, ctrlr_name)
pub.publish(eq_pos)
self._shock_pubs.append(pub)
Expand Down Expand Up @@ -484,7 +484,7 @@ def _create_axle_cmd_pub(list_ctrlrs, axle_ctrlr_name):
def _create_cmd_pub(list_ctrlrs, ctrlr_name):
# Create a command publisher.
_wait_for_ctrlr(list_ctrlrs, ctrlr_name)
return rospy.Publisher(ctrlr_name + "/command", Float64)
return rospy.Publisher(ctrlr_name + "/command", Float64, queue_size=10)


def _get_steer_ang(phi):
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1 change: 1 addition & 0 deletions ackermann_vehicle_gazebo/package.xml
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Expand Up @@ -37,6 +37,7 @@
<run_depend>ackermann_msgs</run_depend>
<run_depend>ackermann_vehicle_description</run_depend>
<run_depend>controller_manager</run_depend>
<run_depend>ros_controllers</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>gazebo_ros_control</run_depend>
<run_depend>rospy</run_depend>
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