update URDF

IMRCLab · Jan 30, 2024 · 8e2bba5 · 8e2bba5
1 parent 9b87eef
commit 8e2bba5
Show file tree

Hide file tree

Showing 4 changed files with 475 additions and 11 deletions.
diff --git a/crazyflie/config/config.rviz b/crazyflie/config/config.rviz
@@ -52,21 +52,52 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        test:
+        cf231:
           Value: true
         world:
           Value: true
       Marker Scale: 1
       Name: TF
       Show Arrows: true
       Show Axes: true
-      Show Names: false
+      Show Names: true
       Tree:
         world:
-          test:
+          cf231:
             {}
       Update Interval: 0
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /cf231/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        cf231:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: CF231
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -113,25 +144,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 6.814720153808594
+      Distance: 3.1647839546203613
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.028163839131593704
+        Y: -0.049007341265678406
+        Z: -0.025782346725463867
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.665398120880127
+      Pitch: 0.4847976565361023
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 2.8785719871520996
+      Yaw: 2.9185757637023926
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp
@@ -166,7 +166,7 @@ class CrazyflieROS
     {
       auto msg = std::make_unique<std_msgs::msg::String>();
       auto robot_desc = node->get_parameter("robot_description").get_parameter_value().get<std::string>();
-      msg->data = std::regex_replace(robot_desc, std::regex("$NAME"), name);
+      msg->data = std::regex_replace(robot_desc, std::regex("\\$NAME"), name);
       publisher_robot_description_->publish(std::move(msg));
     }