From 2cdefabbfc554a6cde0250f335ca1197a45415af Mon Sep 17 00:00:00 2001 From: wang-edward Date: Thu, 27 Jul 2023 20:22:34 -0400 Subject: [PATCH] added gps setup (publishes) --- .../urdf/drivetrain.macro.xacro | 31 +++++++++++++++---- .../urdf/drivetrain.urdf.xacro | 1 + 2 files changed, 26 insertions(+), 6 deletions(-) diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro index 32c2a06e..d716d1b8 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.macro.xacro @@ -148,7 +148,7 @@ - + /demo ~/out:=imu @@ -246,19 +246,38 @@ - true - 1.0 - - nav_gps_plugin/out:=gps + /demo + ~/out:=gps gps_link + true + 100 + true + + + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + + 0.0 + 2e-4 + 0.0000075 + 0.0000008 + + + - Gazebo/Grey + Gazebo/Grey + diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro index 1c71a6f6..8a1a0c8c 100644 --- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro +++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro @@ -41,4 +41,5 @@ +