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reference frame

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This commit is contained in:
Marcin M
2026-06-10 22:48:34 +02:00
parent e2283a7d6f
commit 65c9e81858
14 changed files with 358 additions and 88 deletions
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src/arm_moveit_config/launch/sim.launch.py
+8 -1
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@@ -63,8 +63,15 @@ def generate_launch_description():
arguments=[
'/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock',
'/world/corn_field_wide/model/harvester_robot/joint_state@sensor_msgs/msg/JointState[gz.msgs.Model',
'/model/harvester_robot/joint/joint_1/cmd_pos@std_msgs/msg/Float64]gz.msgs.Double'
# '/model/harvester_robot/joint/joint_1/cmd_pos@std_msgs/msg/Float64]gz.msgs.Double',
# 'cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
# 'model/harvester_robot/odometry@nav_msgs/msg/Odometry[gz.msgs.Odometry',
# 'lidar_left@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan',
# 'lidar_right@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan',
],
remappings=[
('/model/harvester_robot/odometry', '/odom')
],
output='screen'
)