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Home Page: http://ros.org/wiki/carl_bot
License: Other
CARL (Crowdsourced Autonomy and Robot Learning)
Home Page: http://ros.org/wiki/carl_bot
License: Other
Names should be cleaned up for the mesh files (https://github.com/WPI-RAIL/carl_bot/tree/develop/carl_description/meshes). They are a mess right now. Let's use underscores for naming as is convention in most of ROS.
Example: https://github.com/PR2/pr2_common/tree/hydro-devel/pr2_description/meshes
URDFs should be modular and easy to maintain/edit. Think of it like software design, you don't just have one giant C file containing all of your code (or at least you shouldn't!), you instead break things up into logical pieces. The same thing applies to URDFs.
Each piece should be in a *.xacro
file, and a robots folder should exist with the full robot URDF made up of each xacro file.
Here are two examples:
https://github.com/WPI-RAIL/carl_bot/blob/develop/carl_teleop/package.xml#L27 lists joy as a run dependency, but it is also a build dependency.
The computer monitor on CARL does not work. It crashes on startup.
https://github.com/WPI-RAIL/carl_bot/blob/develop/carl_teleop/src/carl_joy_teleop.cpp#L27-L35 should read from a private node handle instead of the global namespace. Also, getParam can take a default parameter removing the need for an if/else in each case.
Meshes should be centered about their own frame, not that of the entire robot. This will add confusion and present bugs in different URDF view modes. It will also make maintaining the URDF much easier and more manageable to edit.
@Spkordell @cmdunkers
Collada models are needed for the robot's visual models. This will allow web visualization.
@cmdunkers @Spkordell
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