Gazebo Partially working

ubc-subbots · Aug 9, 2024 · 3041e49 · 3041e49
1 parent 75c5b84
commit 3041e49
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Showing 7 changed files with 12 additions and 12 deletions.
diff --git a/src/triton_controls/config/thruster_config.yaml b/src/triton_controls/config/thruster_config.yaml
@@ -22,13 +22,13 @@
     max_rev: 2.92 # kgf
     t5:
       contrib:
-        y: -1.0
-      lx: -0.3284
-      ly: -0.075
+        x: -1.0
+      lx: -0.075
+      ly: -0.3984
       lz: 0.0
     t6:
       contrib:
-        y: -1.0
-      lx: 0.3284
-      ly: -0.075
+        x: -1.0
+      lx: -0.075
+      ly: 0.2884
       lz: 0.0
diff --git a/src/triton_gazebo/models/triton_auv/model.sdf b/src/triton_gazebo/models/triton_auv/model.sdf
@@ -31,7 +31,7 @@
     <!-- Thrusters -->
     <include>
       <uri>model://triton_thruster</uri>
-      <pose>0.0 -0.36 0 0 1.57 0</pose>
+      <pose>-0.325 0 0 1.57 0</pose>
       <name>thruster1</name>
     </include>
 
@@ -58,7 +58,7 @@
       <!--
       <pose>-0.14965425999999998 0.05152644 0.33146492 3.1415 3.1415 3.1415</pose>
       -->
-      <pose>-0.325 -0.075 0 -1.57 0 0</pose>
+      <pose>-0.075 -0.3984 0 -1.57 0 1.57</pose>
       <name>thruster5</name>
     </include>
 
@@ -67,7 +67,7 @@
       <!--
       <pose>-0.14965425999999998 -0.38172644 0.33146492 3.1415 3.1415 0</pose>
       -->
-      <pose>0.325 -0.075 0 -1.57 0 0</pose>
+      <pose>-0.075 0.2884 0 -1.57 0 1.57</pose>
       <name>thruster6</name>
     </include>
 

diff --git a/..._gazebo/models/triton_frame/base_link.STL → ..._gazebo/models/triton_frame/base_link.stl b/..._gazebo/models/triton_frame/base_link.STL → ..._gazebo/models/triton_frame/base_link.stl
diff --git a/src/triton_gazebo/models/triton_frame/meshes/triton_frame.STL b/src/triton_gazebo/models/triton_frame/meshes/triton_frame.STL
diff --git a/src/triton_gazebo/models/triton_frame/meshes/triton_frame.stl b/src/triton_gazebo/models/triton_frame/meshes/triton_frame.stl
diff --git a/src/triton_gazebo/models/triton_frame/model.sdf b/src/triton_gazebo/models/triton_frame/model.sdf
@@ -22,7 +22,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://triton_frame/meshes/triton_frame.dae</uri>
+            <uri>model://triton_frame/meshes/triton_frame.stl</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -43,7 +43,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://triton_frame/meshes/triton_frame.dae</uri>
+            <uri>model://triton_frame/meshes/triton_frame.stl</uri>
             <scale>1 1 1</scale>
           </mesh>
         </geometry>
@@ -96,7 +96,7 @@
       </collision>
 
       <sensor type="camera" name="front_camera">
-        <pose>0.05 -0.57 0 0 0 -1.7 </pose>
+        <pose>0.57 -0.05 0 0 0 0 </pose>
         <update_rate>60</update_rate>
         <visualize>true</visualize>
         <camera name="front">

diff --git a/src/triton_gazebo/models/triton_frame/triton_frame.stl b/src/triton_gazebo/models/triton_frame/triton_frame.stl