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Remove unused comments
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@NestorDP
NestorDP committed Dec 6, 2024
1 parent 164f9ea commit 3ee82e0
Showing 1 changed file with 63 additions and 104 deletions.
167 changes: 63 additions & 104 deletions littlebot_description/gazebo/littlebot.gazebo.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -49,116 +49,75 @@
<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find littlebot_control)/config/control.yaml</parameters>
</plugin>
<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu">
</plugin>
</gazebo>

<!-- Plugin IMU -->
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<ignition_frame_id>imu_link</ignition_frame_id>
<topic>imu</topic>
</sensor>
</gazebo>

<!-- Plugin CONTROLER -->
<!-- <gazebo>
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
<parameters>$(find littlebot_control)/config/control.yaml</parameters>
</plugin>
</gazebo> -->

<!-- <ros2_control name="littlebot_hardware_sim" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="base_to_left_wheel">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="base_to_right_wheel">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="chassis_link_to_caster">
<state_interface name="position"/>
</joint>
<joint name="caster_to_free_wheel">
<state_interface name="position"/>
</joint>
</ros2_control> -->

<gazebo>
<!-- Plugin SONAR -->
<!-- <xacro:macro name="sonar" params="reference topic_name">
<gazebo reference="${reference}">
<sensor type="ray" name="TeraRanger">
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>2</max>
<resolution>0.02</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</ray>
<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<plugin name="gazebo_ros_range_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/</namespace>
<remapping>~/out:=sensor/${topic_name}</remapping>
</ros>
<output_type>sensor_msgs/Range</output_type>
<frame_name>${reference}</frame_name>
<radiation_type>ultrasound</radiation_type>
</plugin>

<plugin filename="ignition-gazebo-imu-system" name="ignition::gazebo::systems::Imu">
</plugin>

</sensor>
</gazebo>

<!-- Plugin IMU -->
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<always_on>1</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<ignition_frame_id>imu_link</ignition_frame_id>
<topic>imu</topic>
</sensor>
</gazebo>

<!-- Plugin SONAR -->
<!-- <xacro:macro name="sonar" params="reference topic_name">
<gazebo reference="${reference}">
<sensor type="ray" name="TeraRanger">
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.14835</min_angle>
<max_angle>0.14835</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>2</max>
<resolution>0.02</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.005</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_range_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/</namespace>
<remapping>~/out:=sensor/${topic_name}</remapping>
</ros>
<output_type>sensor_msgs/Range</output_type>
<frame_name>${reference}</frame_name>
<radiation_type>ultrasound</radiation_type>
</plugin>
</sensor>
</gazebo>
</xacro:macro> -->
</xacro:macro> -->

<!-- Call SONAR gazebo plugin xacro -->
<!-- <xacro:sonar reference="sonar_1" topic_name="sonar1" /> -->
<!-- <xacro:sonar reference="sonar_2" topic_name="sonar2" /> -->
<!-- <xacro:sonar reference="sonar_3" topic_name="sonar3" /> -->
<!-- <xacro:sonar reference="sonar_4" topic_name="sonar4" /> -->
<!-- <xacro:sonar reference="sonar_5" topic_name="sonar5" /> -->
<!-- Call SONAR gazebo plugin xacro -->
<!-- <xacro:sonar reference="sonar_1" topic_name="sonar1" /> -->
<!-- <xacro:sonar reference="sonar_2" topic_name="sonar2" /> -->
<!-- <xacro:sonar reference="sonar_3" topic_name="sonar3" /> -->
<!-- <xacro:sonar reference="sonar_4" topic_name="sonar4" /> -->
<!-- <xacro:sonar reference="sonar_5" topic_name="sonar5" /> -->

</xacro:macro>
</robot>

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