Add robot description #8
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Inertial macros are added to simplify calculations
The type of robot will be chosen by an environment variable. Do not forget to set it to change robots.
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@iyedHM C'est une Pull Request en draft, comme ça tu peux voir mon avancement au fur et à mesure sans aller sur ma branche et tu peux directement faire des suggestions / questions directement dans le code ici. Globalement, je fais de petit commit (plus simple en cas de merge conflicts) et je décris ce que je fais dans le titre du commit. Si j'ai des infos supplémentaires à rajouter je le rajoute dans la description du commit (paragraphe après le titre). Aussi je lis mes branches et PR à l'issue du projet. |
There are 3 types of wheels: caster, mecanum, normal. The difference between mecanum and normal is mainly the friction coefficient.
Have not tried yet if these work correctly, these files mostly come from linorobot2.
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Description
This PR should add a robot description for 2-wheel robot and 3-wheel robot. For the moment they should stay as simple as possible.
Each robot should have:
The launch file should be made in such a way that it can choose which robot we run.
RViz should not give any errors are warnings.
Images