feat(xacro): building xacro from sensor calibation #274
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Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
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Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
Signed-off-by: YuxuanLiuTier4Desktop <[email protected]>
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Up to this commit; the PR can work fine on XX1 PSim |
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Description
Proposal of dynamically building xacro files during CMake from sensor calibration configs instead of hard-coding them in the repo.
#275
Methods
Using the jinja2 template mechanism, we can dynamically create as many joints as defined in the calibration Yaml file.
Tricky Problem
To determine the link types, we use the names of the links to infer the types, trying our best to be consistent with the common inputs and also readable. (
determine_link_type)Test
I have tried successfully launch PSim with the created xacro.