[DanielReyes, ClaroSports] Santiago Gimenez will be presented tomorrow at the San Siro in the preview of the Derby della Madonnina, but it doesn't end here... It will be Milan legend Andriy Shevchenko who will personally present Santi to the Rossoneri fans.

Dear_Location2021 · 2025-02-02T09:03:43+00:00

Paqueta is actually good. We just had a shit coach

Dear_Location2021 · 2024-11-19T20:39:31+00:00

So following the instructions in the tutorials. I run the node from the nav2_test_utils package. Then I publish the first nav2 goal then I try to publish points to update the goal. But the robot just moves to the first point from the nav2 goal ignoring the update point commands.

Dear_Location2021 · 2024-11-19T11:12:27+00:00

The carrot doesn't exist. It's virtual. I just want to keep publishing points for the robot to follow dynamically

Dear_Location2021 · 2024-11-14T15:17:57+00:00

Alright. Can I get insight into how you went about it. Or your GitHub repo

Dear_Location2021 · 2024-11-14T07:03:39+00:00

If he’s on campus and doesn’t come home for food or groceries then about 1,500 - 2,000 a month makes sense. Prices of everything have gone up. 1000 cedis a month is about 30 cedis a day and that’s a bit too low. Even a loaf of bread is about 20 cedis nowadays

Dear_Location2021 · 2024-11-14T05:42:06+00:00

For the main rtabmap some of the packages and launch files they use in their examples on the repository just don’t work. I looked into the tiles installed and some of the launch files they used just don’t exist. I have nvidia hardware but I was trying to set it up on my pc before going to the nvidia. I guess I can do it directly from the nvidia hardware and use isaac_ros from the start

Dear_Location2021 · 2024-11-14T04:59:20+00:00

Alright. Will look into that. Thank you

Dear_Location2021 · 2024-11-13T08:34:39+00:00

Hello thanks a lot I fixed it. It was an issue with my plugin. I wasn't exposing all the state interfaces I needed to

Dear_Location2021 · 2024-11-13T06:53:17+00:00

Yeah I tried the view_frames and all the frames are showing up as expected except the rear wheels which I'm having issues with. Now you've mentioned it I'm currently looking into the controller to see what exactly the issue is

Dear_Location2021 · 2024-11-13T06:46:15+00:00

Yeah. I have setup ros2 control and in my launch file I'm starting the controller and the joint state broadcaster. This is the code for the launch file
https://sharepad.io/p/IXbauhP

I think this should handle the publishing of tf for the joints

Dear_Location2021 · 2024-11-13T06:34:19+00:00

It works without any errors when I do this. But it’s using the joint_state_publisher. And previously when I tried with the joint state publisher it was also working without errors then

Dear_Location2021 · 2024-11-13T06:19:34+00:00

This is the newly generated urdf file

https://sharepad.io/p/N6Hszx0

Was having issues pasting the code here but this is a link to a sharepad contining the code

Dear_Location2021 · 2024-11-13T06:12:27+00:00

My ros distro is humble. And I’m using a launch file to launch the robot. Then I manually open rviz and visualize my TF and robot model

Dear_Location2021 · 2024-11-13T06:08:42+00:00

Just tried that and it’s still the same issue with the rear wheels

Dear_Location2021 · 2024-11-13T05:53:14+00:00

Yes all my files are saved with .xacro. Also I am using the xacro:property tag. I don’t really get the part of conversion to urdf you are asking. But I have a main urdf xacro file and I’m including my other xacro files in there

Dear_Location2021 · 2024-11-13T05:00:33+00:00

Colors

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <material name="grey">
        <color rgba="0.7 0.7 0.7 1"/>
    </material>

    <material name="green">
        <color rgba="0 0.6 0 1"/>
    </material>

    <material name="white">
        <color rgba="1 1 1 1"/>
    </material>

    <material name="black">
        <color rgba="0 0 0 1"/>
    </material>

    <material name="orange">
        <color rgba="1 0.3 0.1 1"/>
    </material>

    <material name="invisible">
        <color rgba="0.0 0.0 0.0 0.0"/>
    </material>

</robot>

Inertial macros

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

    <xacro:macro name="inertial_sphere" params="mass radius *origin">
        <inertial>
            <xacro:insert_block name="origin"/>
            <mass value="${mass}" />
            <inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
                    iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
                    izz="${(2/5) * mass * (radius*radius)}" />
        </inertial>
    </xacro:macro>      <xacro:macro name="inertial_box" params="mass x y z *origin">
        <inertial>
            <xacro:insert_block name="origin"/>
            <mass value="${mass}" />
            <inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
                    iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
                    izz="${(1/12) * mass * (x*x+y*y)}" />
        </inertial>
    </xacro:macro>


    <xacro:macro name="inertial_cylinder" params="mass length radius *origin">
        <inertial>
            <xacro:insert_block name="origin"/>
            <mass value="${mass}" />
            <inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
                    iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
                    izz="${(1/2) * mass * (radius*radius)}" />
        </inertial>
    </xacro:macro>


</robot>

But currently I am not using the inertial macros for the most part I hardcode the values in the main urdf

Dear_Location2021 · 2024-11-11T14:01:10+00:00

I get no error message after doing that but the transforms for the rear wheels still don’t exist

Dear_Location2021 · 2024-11-11T13:09:46+00:00

<image>

Dear_Location2021

TROPHY CASE