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Rviz lights plugin #111

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merged 4 commits into from
May 18, 2023
Merged

Rviz lights plugin #111

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93f126c
basic plugin usage - POC
pkowalsk1 Apr 12, 2023
26b3538
add rear animation texture
pkowalsk1 Apr 19, 2023
17c9375
fix rviz config
pkowalsk1 Apr 19, 2023
6c85503
fix .rviz file
pkowalsk1 May 17, 2023
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2 changes: 1 addition & 1 deletion panther_description/rviz/panther.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -177,4 +177,4 @@ Window Geometry:
collapsed: true
Width: 1848
X: 1992
Y: 0
Y: 0
16 changes: 16 additions & 0 deletions panther_description/urdf/body.urdf.xacro
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Expand Up @@ -57,6 +57,14 @@
</joint>

<link name="front_light_link" />

<joint name="front_light_to_front_animation_joint" type="fixed">
<origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
<parent link="front_light_link" />
<child link="front_animation_link" />
</joint>

<link name="front_animation_link" />

<joint name="body_to_rear_light_joint" type="fixed">
<origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
Expand All @@ -66,6 +74,14 @@

<link name="rear_light_link" />

<joint name="rear_light_to_rear_animation_joint" type="fixed">
<origin xyz="0.0 0.0 0.0185" rpy="${pi/2} 0.0 ${pi/2}" />
<parent link="rear_light_link" />
<child link="rear_animation_link" />
</joint>

<link name="rear_animation_link" />

<joint name="body_to_cover_joint" type="fixed">
<origin xyz="0.0 0.0 0.1715" rpy="0.0 0.0 0.0" />
<parent link="body_link" />
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