fixed camera and chassis location

PurdueLunabotics · Apr 27, 2024 · 564ec3e · 564ec3e
1 parent 888381b
commit 564ec3e
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Showing 3 changed files with 19 additions and 18 deletions.
diff --git a/lunabot_behavior/behavior.py b/lunabot_behavior/behavior.py
@@ -173,6 +173,7 @@ def behavior_loop(self):
 
         self.current_state = States.TRAVERSAL_MINE
 
+        print(mining_goal)
         self.goal_publisher.publish(mining_goal)
 
         # This visualizes the given zone as a red square (visible in rviz)
@@ -297,4 +298,4 @@ def behavior_loop(self):
 if __name__ == "__main__":
     behavior = Behavior()
     behavior.behavior_loop()
-    rospy.spin()
+    rospy.spin()
diff --git a/lunabot_sim/lunabot_description/launch/urdf.rviz b/lunabot_sim/lunabot_description/launch/urdf.rviz
@@ -302,25 +302,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 9.613785743713379
+      Distance: 2.9561378955841064
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 1.278163194656372
-        Y: 0.9863121509552002
-        Z: -1.4903372526168823
+        X: 0.5662492513656616
+        Y: 0.12441588193178177
+        Z: -0.4329623878002167
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8097972273826599
+      Pitch: 0.38479745388031006
       Target Frame: <Fixed Frame>
-      Yaw: 3.7518625259399414
+      Yaw: 5.406868934631348
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/lunabot_sim/lunabot_description/urdf/lunabot.xacro b/lunabot_sim/lunabot_description/urdf/lunabot.xacro
@@ -9,7 +9,7 @@
 <xacro:property name="chassisMass" value="55"/>
 
 <xacro:property name="wheelWidth" value="0.05"/>
-<xacro:property name="wheelRadius" value="0.13755"/>
+<xacro:property name="wheelRadius" value="0.15"/>
 <xacro:property name="wheelMass" value="5"/>
 
 <xacro:macro name="box_inertia" params="m x y z">
@@ -31,7 +31,7 @@
 <link name="base_link"/>
 <link name="chassis">
   <visual>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.215"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
     </geometry>
@@ -52,14 +52,14 @@
     <xacro:cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
   </inertial>
   <visual>
-    <origin rpy="0 0 0" xyz="-0.275 0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="-0.275 0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/right_front.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
-    <origin rpy="0 0 0" xyz="-0.275 0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="-0.275 0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/right_front.stl" scale="0.001 0.001 0.001"/>
     </geometry>
@@ -73,14 +73,14 @@
     <xacro:cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
   </inertial>
   <visual>
-    <origin rpy="0 0 0" xyz="-0.275 -0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="-0.275 -0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/left_front.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
-    <origin rpy="0 0 0" xyz="-0.275 -0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="-0.275 -0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/left_front.stl" scale="0.001 0.001 0.001"/>
     </geometry>
@@ -94,14 +94,14 @@
     <xacro:cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
   </inertial>
   <visual>
-    <origin rpy="0 0 0" xyz="0.275 -0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="0.275 -0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/left_back.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
-    <origin rpy="0 0 0" xyz="0.275 -0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="0.275 -0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/left_back.stl" scale="0.001 0.001 0.001"/>
     </geometry>
@@ -115,14 +115,14 @@
     <xacro:cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
   </inertial>
   <visual>
-    <origin rpy="0 0 0" xyz="0.275 0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="0.275 0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/right_back.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="silver"/>
   </visual>
   <collision>
-    <origin rpy="0 0 0" xyz="0.275 0.3 0.14"/>
+    <origin rpy="0 0 0" xyz="0.275 0.3 0"/>
     <geometry>
       <mesh filename="package://lunabot_description/meshes/right_back.stl" scale="0.001 0.001 0.001"/>
     </geometry>
@@ -167,7 +167,7 @@
 <link name="d455_back_link"/>
 
 <joint name="depth_cam_jnt" type="fixed">
-    <origin rpy="0 0 0" xyz="0.405 -0.10 0.39"/>
+    <origin rpy="0 0 0" xyz="0.405 -0.10 0.45"/>
   <parent link="base_link"/>
   <child link="d455_back_link"/>
   <axis xyz="0.0 1.0 0.0"/>