Update component_config.yaml and thruster_config.yaml to be consistent with VRX WAM-V configuration #51
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| @@ -5,6 +5,3 @@ engine: | |||
| - prefix: "right" | |||
| position: "-2.373776 -1.027135 0.318237" | |||
| orientation: "0.0 0.0 0.0" | |||
| - prefix: "middle" | |||
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I think we should keep the "middle" thruster to match the "T" configuration given in wamv_gazebo/urdf/wamv_gazebo.urdf.xacro, since this is the default for the 2022 competition.
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Sure, I have also created PR osrf/vrx#453 by updating the example_thruster_config.yaml of the vrx_gazebo package in order to match the "T" thruster configuration.
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OK thanks. For what it's worth, I think the source of the problem here is probably that the thruster and component config tutorial does not do enough to clarify the difference between generic WAMV configuration while using the VRX Platform, and the configuration requirements for the VRX Competition. Ideally, these should be two separate (though related) things.
So, I may try to rework this tutorial before returning to your new PR osrf/vrx#453.
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@M1chaelM, I cannot clearly understand what is the "problem" in thruster_component_config tutorial with respect to PR osrf/vrx#453. Correct me if I am wrong here, but I have simply added a "middle" thruster to the example_thruster_config.yaml of the vrx_gazebo package in order to match the "T" thruster configuration with the one in this repository. This thruster configuration passes all the compliance checks and can be used for VRX Competition as well as generic USV simulations.
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The requested changes have been made, kindly review them @M1chaelM. |
There were a few inconsistencies between the
component_config.yamlandthruster_config.yamlof thevrx-dockerrepository as compared withexample_component_config.yamlandexample_thruster_config.yamlof thevrxrepository.This PR resolves the aforementioned inconsistencies and adds the pinger component to the
component_config.yaml. For details, please refer osrf/vrx#448.