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gazebo_ros_wheel_slip: support parameters specified in launch file (backport to melodic)#1111
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scpeters merged 1 commit intoros-simulation:melodic-develfrom Aug 8, 2020
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The WheelSlipPlugin already has default values for the slip compliance parameters, so ignore the default values set in WheelSlip.cfg by making them negative and instruct the callback to ignore negative values. Also, ignore the `level` variable in callback so that parameters set in launch file will not be ignored.
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Both the issue and this fix have been replicated. Behavior before this fix:
Behavior with this fix:
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scpeters
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I've created #1126 that targets this to noetic-devel. We will merge that first and then revisit this as a backport to melodic if all is well. |
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I just merged #1126 to noetic |
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Jul 14, 2020
Similar to the change in ros-simulation#1111, moves the WheelSlipPlugin::Load call before the parameter callback so that the values from SDF/URDF are set first. Then the callback is changed to ignore negative values, and the default slip parameter values are set to -1, so that the SDF/URDF values are still preferred unless a different parameter value is specified in a launch file.
jacobperron
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Aug 7, 2020
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Aug 13, 2020
Initial port of gazebo_ros_wheel_slip_plugin to ros2. It includes a similar change to #1111, which moved the WheelSlipPlugin::Load call before the parameter callback so that the values from SDF/URDF are set first. Then the callback is changed to ignore negative values, and the default slip parameter values are set to -1, so that the SDF/URDF values are still preferred unless a different parameter value is specified in a launch file. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
scpeters
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Aug 13, 2020
Initial port of gazebo_ros_wheel_slip_plugin to ros2. It includes a similar change to ros-simulation#1111, which moved the WheelSlipPlugin::Load call before the parameter callback so that the values from SDF/URDF are set first. Then the callback is changed to ignore negative values, and the default slip parameter values are set to -1, so that the SDF/URDF values are still preferred unless a different parameter value is specified in a launch file. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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Aug 17, 2020
Forward port of wheel slip plugin from eloquent (#1099) to foxy. It includes a similar change to #1111, which moved the WheelSlipPlugin::Load call before the parameter callback so that the values from SDF/URDF are set first. Then the callback is changed to ignore negative values, and the default slip parameter values are set to -1, so that the SDF/URDF values are still preferred unless a different parameter value is specified in a launch file. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Jacob Perron <jacob@openrobotics.org>
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The
gazebo_ros_wheel_slipplugin currently ignores slip compliance values specified in a launch file due to the check of thelevelparameter added in 3cf9f5e, which ensures that parameter values specified in the urdf / sdf xml parameters are not over-ridden by the default values specified in the.cfgfile. In order to respect the values set in launch files but ignore the defaults in the.cfgfile, change the.cfgdefault values to-1and adjust the callback to ignore negative values. This is fine because gazebo's WheelSlipPlugin already has default values for the slip compliance parameters, so the.cfgdefaults are extraneous.This also reverts 3cf9f5e so that the
levelparameter is ignored again.cc @Maxx84