2 ➡️ 3 #362
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Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: John Shepherd <john@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org>
* initial version of wheel_slip system copied from apply_joint_force * Port essential parts of WheelSlipPlugin * Add test init and resolve comments Signed-off-by: John Shepherd <john@openrobotics.org> * updated tests Signed-off-by: John Shepherd <john@openrobotics.org> * add tricycle uphill test Signed-off-by: John Shepherd <john@openrobotics.org> * Add partial tire drum test Signed-off-by: John Shepherd <john@openrobotics.org> * Add triball drift sdf Signed-off-by: John Shepherd <john@openrobotics.org> * Sdf changes Signed-off-by: John Shepherd <john@openrobotics.org> * initial version of wheel_slip system copied from apply_joint_force * Port essential parts of WheelSlipPlugin * Add test init and resolve comments Signed-off-by: John Shepherd <john@openrobotics.org> * updated tests Signed-off-by: John Shepherd <john@openrobotics.org> * add tricycle uphill test Signed-off-by: John Shepherd <john@openrobotics.org> * Add partial tire drum test Signed-off-by: John Shepherd <john@openrobotics.org> * Add triball drift sdf Signed-off-by: John Shepherd <john@openrobotics.org> * Sdf changes Signed-off-by: John Shepherd <john@openrobotics.org> * requested fixes Signed-off-by: John Shepherd <john@openrobotics.org> * Add suggestions, make codecheck happy Signed-off-by: John Shepherd <john@openrobotics.org> * Add test fixes Signed-off-by: John Shepherd <john@openrobotics.org> * Requested fixes Signed-off-by: John Shepherd <john@openrobotics.org> * Add suggested fixes Signed-off-by: John Shepherd <john@openrobotics.org> * Update src/systems/wheel_slip/WheelSlip.cc Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org>
A recent update to DART changed the way the slip parameter is implemented. Part of this change removed the small amount of slip each surface had by default. This in turn broke this test because the vehicle would not steer as some amount of slip is needed in the lateral direction. The solution is to lower the coefficient of friction in the lateral direction so the friction in that direction can be overcome by the steering force. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
* enhanced log playback performance Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Handling multiple Parse(...) calls in a single Update Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Change clear behavior Signed-off-by: Nate Koenig <nate@openrobotics.org> * Revert changes Signed-off-by: Nate Koenig <nate@openrobotics.org> * explain cached pose clearing behavior Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * fixed whitespacing for codecheck Signed-off-by: Ashton Larkin <ashton@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: John Shepherd <john@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
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gazebosim/gz-physics#102 is already merge, but I think it's not released, @scpeters ? |
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@ahcorde , the Ignition Physics release is out and this is ready for review again. |
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Some tests are failing. Are these tests flaky ? OSXINTEGRATION_level_manager_runtime_performers.test_ran UbuntuServerRepeat/VelocityControlTest.PublishCmd/0 |
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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I think the previous failures were flaky, CI is happy now. Merging. |
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Needs gazebosim/gz-physics#102 to be merged and released.