custom_components_tutorial - osrf/vrx GitHub Wiki
Finally, let's specify a custom component configuration.
- In the
my_wamv
directory you created, use a text editor to create a file calledexample_component_config.yaml
, and add the following contents:
wamv_camera:
- name: front_left_camera
visualize: False
x: 0.75
y: 0.1
z: 1.5
R: 0.0
P: ${radians(15)}
Y: 0.0
post_Y: 0.0
- name: front_right_camera
visualize: False
x: 0.75
y: -0.1
z: 1.5
R: 0.0
P: ${radians(15)}
Y: 0.0
post_Y: 0.0
- name: far_left_camera
visualize: False
x: 0.75
y: 0.3
z: 1.5
R: 0.0
P: ${radians(15)}
Y: 0.0
post_Y: 0.0
wamv_gps:
- name: gps_wamv
x: -0.85
y: 0.0
z: 1.3
R: 0.0
P: 0.0
Y: 0.0
wamv_imu:
- name: imu_wamv
x: 0.3
y: -0.2
z: 1.3
R: 0.0
P: 0.0
Y: 0.0
lidar:
- name: lidar_wamv
type: 16_beam
x: 0.7
y: 0.0
z: 1.8
R: 0.0
P: ${radians(8)}
Y: 0.0
post_Y: 0.0
wamv_ball_shooter:
- name: ball_shooter
x: 0.55
y: -0.3
z: 1.3
pitch: ${radians(-20)}
yaw: 0.0
wamv_pinger:
- sensor_name: receiver
position: 1.0 0 -1.0
This file adds all the same components as the default WAM-V component configuration, but arranged differently on the vehicle (e.g. the ballshooter is now on the other side of the platform). Later, you can edit this file to customize your WAM-V further.
- Run the
generate_wamv.launch.py
script to generate your WAM-V's URDF with these components.
ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=`pwd`/example_component_config.yaml thruster_yaml:=`pwd`/example_thruster_config.yaml wamv_target:=`pwd`/wamv_target.urdf wamv_locked:=False
- The WAM-V should now have components arranged in the locations given above. From the previous tutorial, it will also have 3 thrusters:
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