From 78cd14401254b3560540f0176c49d1e7c4189586 Mon Sep 17 00:00:00 2001
From: qhdwight <qhdwight@gmail.com>
Date: Tue, 3 Oct 2023 00:02:56 -0400
Subject: [PATCH] fix rotations

---
 .../autonomy/launch/starter_project.launch    | 34 +++++++++----------
 urdf/meshes/rover.wheel.dae                   |  4 +--
 urdf/rover/rover.urdf.xacro                   | 18 +++++-----
 urdf/staging/rover.blend                      |  4 +--
 urdf/staging/rover.dae.blend                  |  4 +--
 5 files changed, 32 insertions(+), 32 deletions(-)

diff --git a/starter_project/autonomy/launch/starter_project.launch b/starter_project/autonomy/launch/starter_project.launch
index 679f7a533..d169e1c61 100644
--- a/starter_project/autonomy/launch/starter_project.launch
+++ b/starter_project/autonomy/launch/starter_project.launch
@@ -1,28 +1,28 @@
 <launch>
-  <arg name="gui" default="false" />
-  <param name="robot_description" command="xacro $(find mrover)/urdf/rover/rover.urdf.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/starter_project/autonomy/config/starter_project.rviz" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+  <arg name="gui" default="false"/>
+  <param name="robot_description" command="xacro $(find mrover)/urdf/rover/rover.urdf.xacro"/>
+  <arg name="rvizconfig" default="$(find mrover)/starter_project/autonomy/config/starter_project.rviz"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true"/>
 
-  <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
-  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"/>
+  <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/config/gazebo/env_description:$(find mrover)/starter_project/autonomy/config" />
-    <arg name="world_name" value="$(find mrover)/starter_project/autonomy/config/starter_project.world" />
-    <arg name="paused" value="false" />
-    <arg name="use_sim_time" value="true" />
-    <arg name="gui" value="true" />
-    <arg name="headless" value="false" />
-    <arg name="debug" value="false" />
-    <arg name="verbose" default="false" />
-    <arg name="gui_required" value="true" />
+    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/config/gazebo/env_description:$(find mrover)/starter_project/autonomy/config"/>
+    <arg name="world_name" value="$(find mrover)/starter_project/autonomy/config/starter_project.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="gui_required" value="true"/>
   </include>
 
   <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" output="screen" args="
     -urdf -param robot_description
-    -model rover" />
+    -model rover"/>
 
   <!--
     ==========
diff --git a/urdf/meshes/rover.wheel.dae b/urdf/meshes/rover.wheel.dae
index eb2cb9948..0047f9b0a 100644
--- a/urdf/meshes/rover.wheel.dae
+++ b/urdf/meshes/rover.wheel.dae
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:20bd7b563ac9058721806e34c1934e727dc31523c66de655cbb3f9b4a4583030
-size 6531434
+oid sha256:1e8a5fc0a9563d01b92e3fbbb4be5df24383737b4e7e4f3842fc85d21072ee73
+size 6552611
diff --git a/urdf/rover/rover.urdf.xacro b/urdf/rover/rover.urdf.xacro
index 6a7695e42..fd95bc4f9 100644
--- a/urdf/rover/rover.urdf.xacro
+++ b/urdf/rover/rover.urdf.xacro
@@ -51,11 +51,11 @@
     </collision>
   </link>
 
-  <xacro:macro name="wheel" params="side reflect rotate">
+  <xacro:macro name="wheel" params="side reflect">
     <link name="front_${side}_wheel_link">
       <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}"/>
       <visual>
-        <origin rpy="0 0 ${rotate * PI}" xyz="0.0 0.0 0.0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
         <geometry>
           <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
         </geometry>
@@ -70,7 +70,7 @@
     <link name="center_${side}_wheel_link">
       <xacro:cylinder_inertia m="${wheel_mass}" r="${wheel_radius}" h="${wheel_width}"/>
       <visual>
-        <origin rpy="0 0 ${rotate * PI}" xyz="0.0 0.0 0.0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
         <geometry>
           <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
         </geometry>
@@ -86,7 +86,7 @@
       <xacro:sphere_inertia m="${wheel_mass}" r="${wheel_radius}"/>
 
       <visual>
-        <origin rpy="0 0 ${rotate * PI}" xyz="0.0 0.0 0.0"/>
+        <origin rpy="0 ${min(0, reflect) * PI} 0" xyz="0 0 0"/>
         <geometry>
           <mesh filename="package://mrover/urdf/meshes/rover.wheel.dae"/>
         </geometry>
@@ -101,21 +101,21 @@
     <joint name="front_${side}_wheel_joint" type="continuous">
       <parent link="chassis_link"/>
       <child link="front_${side}_wheel_link"/>
-      <origin xyz="0.435 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="0 0 0"/>
+      <origin xyz="0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
       <axis xyz="0 0 1"/>
     </joint>
 
     <joint name="center_${side}_wheel_joint" type="continuous">
       <parent link="chassis_link"/>
       <child link="center_${side}_wheel_link"/>
-      <origin xyz="0 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="0 0 0"/>
+      <origin xyz="0 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
       <axis xyz="0 0 1"/>
     </joint>
 
     <joint name="back_${side}_wheel_joint" type="continuous">
       <parent link="chassis_link"/>
       <child link="back_${side}_wheel_link"/>
-      <origin xyz="-0.435 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="0 0 0"/>
+      <origin xyz="-0.42 ${reflect * (base_width/2 + 0.06)} -0.373" rpy="${-PI/2} 0 0"/>
       <axis xyz="0 0 1"/>
     </joint>
   </xacro:macro>
@@ -189,6 +189,6 @@
   </link>
 
   <xacro:include filename="$(find mrover)/urdf/rover/rover_gazebo_plugins.urdf.xacro"/>
-  <xacro:wheel side="left" reflect="1" rotate="1"/>
-  <xacro:wheel side="right" reflect="-1" rotate="0"/>
+  <xacro:wheel side="left" reflect="1"/>
+  <xacro:wheel side="right" reflect="-1"/>
 </robot>
diff --git a/urdf/staging/rover.blend b/urdf/staging/rover.blend
index 524b5a0fd..28b6e595a 100644
--- a/urdf/staging/rover.blend
+++ b/urdf/staging/rover.blend
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cc6725cfb10468ade2bed580dbf9158c06885770e7aeb73bde87ead73a579062
-size 24910444
+oid sha256:88f36161c9c15cbd3ea6e6ed5aeedbde44c6a958dfacf0874b4ca2cbe280c89e
+size 24910412
diff --git a/urdf/staging/rover.dae.blend b/urdf/staging/rover.dae.blend
index 92ef7c2c8..9d80cf866 100644
--- a/urdf/staging/rover.dae.blend
+++ b/urdf/staging/rover.dae.blend
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:27c6ae23ac05ff2f5ea7acdb66c3aaf4321eee0b7526bb4d3cf884e8a26db3b3
-size 879068
+oid sha256:93d0ca5b5c9d062bca9bca334d876067cbbd9218ac57aa405e8853266098a36c
+size 879440