From 3872264bf444bcd5ae8e0fc356cbe3b9e18f2f8b Mon Sep 17 00:00:00 2001
From: Timo Schneider <timoschneider04@gmail.com>
Date: Fri, 9 May 2025 14:36:42 +0200
Subject: [PATCH] updated model

---
 src/sherpa/config/gz_bridge.yaml              | 12 ++++++++++++
 src/sherpa/launch/simulator.launch.py         |  4 ++--
 src/sherpa/urdf/components/imu.xacro          |  4 ++--
 src/sherpa/urdf/components/ouster_lidar.xacro |  2 +-
 src/sherpa/urdf/components/wheel.xacro        |  4 ++--
 src/sherpa/urdf/sherpa.xacro                  |  6 ++++--
 6 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/src/sherpa/config/gz_bridge.yaml b/src/sherpa/config/gz_bridge.yaml
index 86b4753..6764b96 100644
--- a/src/sherpa/config/gz_bridge.yaml
+++ b/src/sherpa/config/gz_bridge.yaml
@@ -39,3 +39,15 @@
   ros_type_name: "geometry_msgs/msg/Twist"
   gz_type_name: "gz.msgs.Twist"
   direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/front"
+  gz_topic_name: "front_camera"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "gz.msgs.Image"
+  direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera_info"
+  gz_topic_name: "camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
\ No newline at end of file
diff --git a/src/sherpa/launch/simulator.launch.py b/src/sherpa/launch/simulator.launch.py
index 4e85f23..552dcbf 100644
--- a/src/sherpa/launch/simulator.launch.py
+++ b/src/sherpa/launch/simulator.launch.py
@@ -78,9 +78,9 @@ def generate_launch_description():
             'ros2', 'run', 'ros_gz_sim', 'create',
             '-name', 'sherpa',
             '-topic', 'robot_description',
-            '-x', '0', '-y', '0', '-z', '26'
+            '-x', '72', '-y', '-72', '-z', '8.5'
         ],
-        #output='screen'
+        output='screen'
     )
 
     twist_stamper = Node(
diff --git a/src/sherpa/urdf/components/imu.xacro b/src/sherpa/urdf/components/imu.xacro
index 80f93be..f3e6282 100644
--- a/src/sherpa/urdf/components/imu.xacro
+++ b/src/sherpa/urdf/components/imu.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="imu" params="name parent xyz rpy frequency">
+    <xacro:macro name="imu" params="name parent xyz rpy frequency topic">
 
         <link name="${name}_link">
             <inertial>
@@ -27,7 +27,7 @@
                 <update_rate>${frequency}</update_rate>
                 <gz_frame_id>${name}_link</gz_frame_id>
                 <visualize>true</visualize>
-                <topic>/imu</topic>
+                <topic>${topic}</topic>
             </sensor>
         </gazebo>
     </xacro:macro>
diff --git a/src/sherpa/urdf/components/ouster_lidar.xacro b/src/sherpa/urdf/components/ouster_lidar.xacro
index ca9bcfe..72a796b 100644
--- a/src/sherpa/urdf/components/ouster_lidar.xacro
+++ b/src/sherpa/urdf/components/ouster_lidar.xacro
@@ -141,7 +141,7 @@
         <gazebo reference="${name}_link">
             <sensor name="${name}" type="gpu_lidar">
                 <update_rate>${frequency}</update_rate>
-                <topic>/velodyne_points</topic>
+                <topic>${topic}</topic>
                 <gz_frame_id>${name}_link</gz_frame_id>
                 <lidar>
                     <scan>
diff --git a/src/sherpa/urdf/components/wheel.xacro b/src/sherpa/urdf/components/wheel.xacro
index 6978164..6ff3ffd 100644
--- a/src/sherpa/urdf/components/wheel.xacro
+++ b/src/sherpa/urdf/components/wheel.xacro
@@ -77,8 +77,8 @@
             <child link="${name}_link"/>
             <axis xyz="0 1 0"/>
             <limit 
-                velocity="35"
-                effort="350"
+                velocity="5"
+                effort="30"
             />
             <origin xyz="${xyz}" rpy="${rpy}"/>
         </joint>
diff --git a/src/sherpa/urdf/sherpa.xacro b/src/sherpa/urdf/sherpa.xacro
index c0f4349..fa76fb5 100644
--- a/src/sherpa/urdf/sherpa.xacro
+++ b/src/sherpa/urdf/sherpa.xacro
@@ -20,12 +20,14 @@
         </inertial>
     </link>
 
+    <xacro:include filename="components/camera.xacro"/>
     <xacro:include filename="components/imu.xacro"/>
     <xacro:include filename="components/wheel.xacro"/>
     <xacro:include filename="components/ouster_lidar.xacro"/>
 
-    <xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0 0" frequency="300"/>
-    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0 0" model="vlp16" frequency="10" topic="/points"/>
+    <xacro:camera name="front_camera" parent="base" xyz="0 0 2" rpy="0 0 0" frequency="30" fov="90" topic="/front_camera"/>
+    <xacro:imu name="imu" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" frequency="300" topic="/imu"/>
+    <xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0.05 0" model="vlp16" frequency="10" topic="/velodyne_points"/>
 
     <link name="steer_fl_link">
         <inertial>