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Add dummy inertias for Gazebo simulation #339

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Add dummy inertias for Gazebo simulation #339

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52fc44f
Add dummy inertias for Gazebo simulation
eborghi10 Jul 8, 2024
2efce15
Disable missing dependency
eborghi10 Jul 25, 2024
f6a6567
Install geographiclib with CMake
eborghi10 Jul 25, 2024
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11 changes: 11 additions & 0 deletions microstrain_inertial_description/urdf/cv7.urdf.xacro
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Original file line number Diff line number Diff line change
@@ -1,5 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dummy_inertia">
<inertial>
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</xacro:macro>

<xacro:macro name="cv7" params="name parent *origin">
<material name="cv7_material">
<color rgba="${80/255} ${81/255} ${85/255} 1" />
Expand All @@ -13,9 +22,11 @@
</geometry>
<material name="cv7_material"/>
</visual>
<xacro:dummy_inertia/>
</link>

<link name="${name}">
<xacro:dummy_inertia/>
</link>

<!-- This joint handles the center of the CV7, but measurements will not be produced WRT to this, it is just easier to place on robots -->
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17 changes: 10 additions & 7 deletions microstrain_inertial_driver/CMakeLists.txt
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Expand Up @@ -97,13 +97,17 @@ find_package(catkin REQUIRED COMPONENTS
microstrain_inertial_msgs
)

# GeographicLib
include(FetchContent)
FetchContent_Declare(
GeographicLib
GIT_REPOSITORY https://github.com/geographiclib/geographiclib.git
GIT_TAG v2.3
)
FetchContent_MakeAvailable(GeographicLib)

# Find some less ROS-y packages
list(APPEND CMAKE_MODULE_PATH "/usr/share/cmake/geographiclib/")
find_package(Eigen3 REQUIRED)
find_package(GeographicLib REQUIRED)

# We want to use the static library for libgeographic, but it doesn't seem to find it for us, so substitute it here
string(REGEX REPLACE "[.]so[^\\/\\s]*$" ".a" GeographicLib_LIBRARIES ${GeographicLib_LIBRARIES})

###################################
## catkin specific configuration ##
Expand Down Expand Up @@ -143,7 +147,6 @@ include_directories(
${COMMON_DIR}/include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${GeographicLib_INCLUDE_DIRS}
)

set(LIB_SRC_FILES
Expand Down Expand Up @@ -224,7 +227,7 @@ target_link_libraries(${PROJECT_NAME}
target_link_libraries(${PROJECT_NAME}_node
${PROJECT_NAME}
${catkin_LIBRARIES}
${GeographicLib_LIBRARIES}
GeographicLib
)

#############
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4 changes: 2 additions & 2 deletions microstrain_inertial_driver/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,12 +26,12 @@
<depend>nmea_msgs</depend>
<depend>rtcm_msgs</depend>
<depend>tf2_geometry_msgs</depend>

<depend>microstrain_inertial_msgs</depend>

<!-- Static or header only library deps -->
<build_depend>eigen</build_depend>
<build_depend>geographiclib</build_depend>
<!-- <build_depend>geographiclib</build_depend> -->

<build_depend>message_generation</build_depend>
<build_depend>roslint</build_depend>
Expand Down