Adding team base #411
Adding team base #411
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What is its purpose? Is it documented somewhere? |
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A wiki page will come shortly. This gives a team the ability to have a zero-cost computer, the Team Base, in the staging area. You'll be able to assign a docker image to the Team Base, just as you would a regular robot. The Team Base cannot move, and you can only have one. This is also optional. |
subt_ign/launch/cave_circuit.ign
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| " </visual>\n"\ | ||
| " </link>\n"\ | ||
| " <!-- Publish robot state information -->\n"\ | ||
| " <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\ |
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I think we don't need to use pose publisher system for this simple model and instead we can just use a static_transform_publisher in teambase_topics.launch, which helps to reduce data published to the /tf topic
e.g. the teambase_topics.launch would then be:
<?xml version="1.0"?>
<launch>
<node pkg="tf2_ros" type="static_transform_publisher" name="tf_teambase_static" args="0 0 0.05 0 0 0 TeamBase TeamBase/link"/>
</launch>
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Thanks, this should be fixed in 3225249
| <robot name="TeamBase" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <xacro:property name="robot_namespace" value="TeamBase"/> | ||
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| <link name='${robot_namespace}/base_link'> |
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change base_link to link to match the actual link name of the TeamBase model?
This adds a
teambase. Theteambasecannot move, an is permanently in the staging area. It's specified in the same manner as other robots, but the name and config must be "teambase" or "team_base". Capitalization doesn't matter.Example
You should see a small black box in the staging area. It has no collision object, just a visual.
Only 1 team base is allowed.