fixed app5 labo 12.4

SherbyRobotics · Nov 6, 2024 · 766cc95 · 766cc95
1 parent 01d254b
commit 766cc95
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Showing 5 changed files with 14 additions and 6 deletions.
diff --git a/racecar_behaviors/racecar_behaviors/path_following.py b/racecar_behaviors/racecar_behaviors/path_following.py
@@ -13,6 +13,8 @@ def __init__(self):
         self.angle_div = self.declare_parameter('angle_div', 8).value
         self.distance = self.declare_parameter('distance', 0.7).value
         self.distance_short = self.declare_parameter('distance_short', 0.45).value
+        self.max_speed = self.declare_parameter('max_speed', 1).value
+        self.max_steering = self.declare_parameter('max_steering', 0.37).value
 
         self.cmd_vel_pub = self.create_publisher(Twist, 'cmd_vel', 1)
         self.scan_sub = self.create_subscription(LaserScan, 'scan', self.scan_callback, 1)
@@ -26,8 +28,8 @@ def scan_callback(self, msg):
         #ranges = msg.ranges[l2:len(msg.ranges)] + msg.ranges[0:l2]
 
         twist = Twist()
-        twist.linear.x = self.max_speed
-        twist.angular.z = 0
+        twist.linear.x = float(self.max_speed)
+        twist.angular.z = 0.0
 
         self.cmd_vel_pub.publish(twist)
 

diff --git a/racecar_gazebo/launch/racecar_circuit.launch.py b/racecar_gazebo/launch/racecar_circuit.launch.py
@@ -3,13 +3,18 @@
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import AppendEnvironmentVariable
 
 def generate_launch_description():
     # Package Directories    
     pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
     racecar_gazebo = get_package_share_directory('racecar_gazebo')
 
     world_name = os.path.join(get_package_share_directory('racecar_gazebo'), 'worlds', 'racecar_circuit.world')
+    models_path = os.path.join(get_package_share_directory('racecar_gazebo'))
+
+    addEnvVariable = AppendEnvironmentVariable("IGN_GAZEBO_RESOURCE_PATH",models_path)
+
 
     # Inside generate_launch_description() function
     gazebo = IncludeLaunchDescription(
@@ -25,6 +30,7 @@ def generate_launch_description():
     )
 
     return LaunchDescription([
+        addEnvVariable,
         gazebo,
         spawn,
     ])
diff --git a/racecar_gazebo/models/walker_racecourse/model.sdf b/racecar_gazebo/models/walker_racecourse/model.sdf
@@ -5,14 +5,14 @@
       <collision name="collision">
         <geometry>
           <mesh>
-            <uri>model://racecar_gazebo/meshes/walker_racecourse.dae</uri>
+            <uri>model://meshes/walker_racecourse.dae</uri>
           </mesh>
         </geometry>
       </collision>
       <visual name="visual">
         <geometry>
           <mesh>
-            <uri>model://racecar_gazebo/meshes/walker_racecourse.dae</uri>
+            <uri>model://meshes/walker_racecourse.dae</uri>
           </mesh>
         </geometry>
       </visual>

diff --git a/racecar_gazebo/setup.py b/racecar_gazebo/setup.py
@@ -38,7 +38,7 @@ def package_files(data_files, directory_list):
     name=package_name,
     version='0.0.0',
     packages=find_packages(exclude=['test']),
-    data_files=package_files(data_files,['models/', 'launch/', 'worlds/','config/']),
+    data_files=package_files(data_files,['models/', 'launch/', 'worlds/','config/', 'meshes/']),
     install_requires=['setuptools'],
     zip_safe=True,
     maintainer='clocal',

diff --git a/racecar_gazebo/worlds/racecar_circuit.world b/racecar_gazebo/worlds/racecar_circuit.world
@@ -34,7 +34,7 @@
           </light>
 
   <include>
-    <uri>model://racecar_gazebo/models/walker_racecourse</uri>
+    <uri>model://models/walker_racecourse</uri>
     <pose>-4 2 -.3583 0 0 -1.57</pose>
     <name>walker_racecourse</name>
   </include>