Rviz lights plugin (#111)

* basic plugin usage - POC * add rear animation texture * fix rviz config * fix .rviz file
husarion · May 18, 2023 · 40fef3a · 40fef3a
1 parent 91aa9eb
commit 40fef3a
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/panther_description/rviz/panther.rviz b/panther_description/rviz/panther.rviz
@@ -177,4 +177,4 @@ Window Geometry:
     collapsed: true
   Width: 1848
   X: 1992
-  Y: 0
+  Y: 0
diff --git a/panther_description/urdf/body.urdf.xacro b/panther_description/urdf/body.urdf.xacro
@@ -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}" />
@@ -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" />
-Original file line number
+Diff line change
@@ Expand Up / @@ -177,4 +177,4 @@ Window Geometry: @@
         collapsed: true
       Width: 1848
       X: 1992
-      Y: 0
+      Y: 0