Proper tracks model: more robots #1048
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# Conflicts: # submitted_models/ctu_cras_norlab_marv_sensor_config_1/model.sdf # submitted_models/ctu_cras_norlab_marv_sensor_config_2/model.sdf # submitted_models/ctu_cras_norlab_marv_sensor_config_3/model.sdf # submitted_models/ctu_cras_norlab_marv_sensor_config_4/model.sdf
Proper tracks battery fix
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| require_relative 'spawner' | |||
| #require_relative 'spawner' | |||
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Is #require_relative 'spawner' not working?
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It does for coro_hd2_sc1, but not when this file is transitively included from coro_hd2_sc2
| <mu>0.273</mu> | ||
| <slip1>0.00165</slip1> | ||
| <mu>1</mu> | ||
| <slip1>0.002249</slip1> | ||
| <mu2>0.75</mu2> |
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I think the <mu2> needs to be adjusted for this vehicle. I tested 150, like you had for the other tracked vehicles, and it seems to work better.
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Fixed and verified basic driving in the example world. The only remaining robot with different value is CSIRO DTR now (it has no mu or mu2 values specified). Should I also update it? At what occasion did the low mu2 pose a problem with the ATR?
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hmm, I can't seem to remember what wasn't working properly. I'm sure it had to do with being able to go over the pallet. However, I've tested with 150 and with 0.75 and they both seem to work fine. Having a higher mu2 makes sense though.
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| <% | |||
| require_relative 'spawner' | |||
| #require_relative 'spawner' | |||
| <mu>0.273</mu> | ||
| <slip1>0.00165</slip1> | ||
| <mu>1</mu> | ||
| <slip1>0.002249</slip1> | ||
| <mu2>0.75</mu2> |
There was a problem hiding this comment.
hmm, I can't seem to remember what wasn't working properly. I'm sure it had to do with being able to go over the pallet. However, I've tested with 150 and with 0.75 and they both seem to work fine. Having a higher mu2 makes sense though.
Adding proper tracks also to the following robots:
The battery draining is done via power_draining_topic battery plugin parameters.
I also fixed the Marble HD2 model textures. I've noticed Fuel converted them from PNG to JPEG between model versions 11 and 12, so I also did this change in the repo. I don't know what was the reason behind that change, though (the other teams' HD2 models still use PNG and there is no problem with it).
Coro HD2 had a smaller problem with the textures in repo SDF, so I fixed that, too.
See screenshots at peci1#3 .