From af1392274036ba95b3d0467ed20769ee17e5d4db Mon Sep 17 00:00:00 2001 From: Yuki Furuta Date: Fri, 29 Jan 2016 18:12:33 +0900 Subject: [PATCH 1/3] [jsk_mbzirc_tasks] add rviz for task3 / fix namespaces of UAVs --- jsk_mbzirc_tasks/config/task3.rviz | 409 ++++++++++++++++++ .../launch/jsk_mbzirc_task_3.launch | 82 ++++ 2 files changed, 491 insertions(+) create mode 100644 jsk_mbzirc_tasks/config/task3.rviz create mode 100644 jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch diff --git a/jsk_mbzirc_tasks/config/task3.rviz b/jsk_mbzirc_tasks/config/task3.rviz new file mode 100644 index 0000000..fdd3e6d --- /dev/null +++ b/jsk_mbzirc_tasks/config/task3.rviz @@ -0,0 +1,409 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 124 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: UAV3 LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + downward_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + downward_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + laser0_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: UAV1 RobotModel + Robot Description: UAV1/robot_description + TF Prefix: UAV1 + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0.1 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: UAV1 LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /UAV1/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /UAV1/downward_cam/camera/image + Name: UAV1 Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Grid: true + Remaining Time: true + UAV1 LaserScan: true + UAV1 RobotModel: true + UAV2 Camera: true + UAV2 LaserScan: true + UAV2 RobotModel: true + UAV3 Camera: true + UAV3 LaserScan: true + UAV3 RobotModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + downward_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + downward_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + laser0_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: UAV2 RobotModel + Robot Description: UAV2/robot_description + TF Prefix: UAV2 + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0.1 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 999999 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: UAV2 LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /UAV2/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /UAV2/downward_cam/camera/image + Name: UAV2 Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Grid: true + Remaining Time: true + UAV1 Camera: true + UAV1 LaserScan: true + UAV1 RobotModel: true + UAV2 LaserScan: true + UAV2 RobotModel: true + UAV3 Camera: true + UAV3 LaserScan: true + UAV3 RobotModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + downward_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + downward_cam_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + laser0_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: UAV3 RobotModel + Robot Description: UAV3/robot_description + TF Prefix: UAV3 + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0.1 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: -999999 + Name: UAV3 LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.01 + Style: Flat Squares + Topic: /UAV3/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /UAV3/downward_cam/camera/image + Name: UAV3 Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Grid: true + Remaining Time: true + UAV1 Camera: true + UAV1 LaserScan: true + UAV1 RobotModel: true + UAV2 Camera: true + UAV2 LaserScan: true + UAV2 RobotModel: true + UAV3 LaserScan: true + UAV3 RobotModel: true + Value: true + Zoom Factor: 1 + - Background Alpha: 0.8 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.8 + Foreground Color: 0; 170; 127 + Name: Remaining Time + Overtake Color Properties: true + Overtake Position Properties: true + Topic: /remaining_time_overlay + Value: true + font: DejaVu Sans Mono + height: 100 + left: 10 + line width: 2 + text size: 64 + top: 10 + width: 370 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: UAV1/base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 13.7968 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -1.15093 + Y: 0.637478 + Z: -0.842752 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.855397 + Target Frame: + Value: Orbit (rviz) + Yaw: 2.6354 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1028 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000018d0000037afc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000010b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002f4000000ca0000000000000000fb0000000c00430061006d0065007200610100000189000000cf0000000000000000fb0000000c00430061006d006500720061010000025e0000009f0000000000000000fb0000000c00430061006d00650072006101000003030000009f0000000000000000fb000000160055004100560033002000430061006d0065007200610100000139000000ca0000001600fffffffb000000160055004100560032002000430061006d0065007200610100000209000000c90000001600fffffffb000000160055004100560031002000430061006d00650072006101000002d8000000ca0000001600ffffff000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000037a000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004970000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + UAV1 Camera: + collapsed: false + UAV2 Camera: + collapsed: false + UAV3 Camera: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 55 + Y: 14 diff --git a/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch b/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch new file mode 100644 index 0000000..30e5be4 --- /dev/null +++ b/jsk_mbzirc_tasks/launch/jsk_mbzirc_task_3.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 70ae32bc9c09f3081966433fd8e71844d1d4c3ae Mon Sep 17 00:00:00 2001 From: Yuki Furuta Date: Mon, 6 Jun 2016 16:16:39 +0900 Subject: [PATCH 2/3] [jsk_mbzirc_common/gazebo_model/models/dropping_zone_box] add box model on dropping zone for task 3 --- .../models/dropping_zone_box/box-object.l | 37 +++++++ .../models/dropping_zone_box/box-to-collada.l | 8 ++ .../generate_dropping_zone_box_model.sh | 16 +++ .../meshes/box_link_mesh.dae | 101 ++++++++++++++++++ .../models/dropping_zone_box/model.config | 11 ++ .../models/dropping_zone_box/model.sdf | 51 +++++++++ .../world/mbzirc_arena_task_3.world | 6 ++ 7 files changed, 230 insertions(+) create mode 100644 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l create mode 100644 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l create mode 100755 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh create mode 100644 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae create mode 100644 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config create mode 100644 jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l new file mode 100644 index 0000000..828c6f0 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-object.l @@ -0,0 +1,37 @@ +;; box.l +;; Author: Yuki Furuta + +(defclass box-object + :super cascaded-link) + +(defmethod box-object + (:init + (&rest args &key (name "dropping_zone_box") (pos (float-vector 0 0 0)) (rot (unit-matrix 3)) &allow-other-keys) + (let (c bc + blink0 + box inner) + (setq box (make-cube 100000 50000 80000 :pos #f(0 0 40000))) + (setq inner (make-cube 95000 45000 77500 :pos #f(0 0 42500))) + (setq box (body- box inner)) + + (send-super* :init :name name args) + (setq bc (list box)) + (dolist (b (cdr bc)) (send (car bc) :assoc b)) + (send (elt bc 0) :set-color :gray) + (setq blink0 (instance bodyset-link :init (make-cascoords) :bodies bc :name :box-bodyset :weight 1 :centroid (float-vector 0.0 0.0 0.0) :inertia-tensor #2f((1.0 0.0 0.0) (0.0 1.0 0.0) (0.0 0.0 1.0)))) + ;; definition of assoc + (send self :assoc blink0) + (setq links (list blink0)) + (setq joint-list (list)) + (send self :init-ending) + (send self :move-to (make-coords :pos pos :rot rot)) + (send-all links :worldcoords) + self)) + + (:handle (&rest args) (forward-message-to-all (list ) args)) + (:attention (&rest args) (forward-message-to-all (list ) args)) + (:button (&rest args) (forward-message-to-all (list ) args)) +) + +(defun box (&rest args) (instance* box-object :init args)) + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l new file mode 100644 index 0000000..99e43b9 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/box-to-collada.l @@ -0,0 +1,8 @@ +;; box-to-collada.l +;; Author: Yuki Furuta + +(load "irteus/irtcollada.l") + +(load "box-object.l") +(collada::eus2collada (box) ".") +(exit) diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh new file mode 100755 index 0000000..93a482d --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/generate_dropping_zone_box_model.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +if [ "`which gzsdf`" = "" ]; then + GZSDF="gz sdf -p" +else + GZSDF="gzsdf print" +fi +rm -rf meshes model.sdf model.urdf dropping_zone_box.dae +roseus box-to-collada.l +sed -i -e 's/nil/box/g' dropping_zone_box.dae +rosrun collada_urdf collada_to_urdf dropping_zone_box.dae -G -A --mesh_output_dir meshes --mesh_prefix "model://dropping_zone_box/meshes" -O model.urdf +$GZSDF model.urdf > model.sdf +sed -i -e 's/.*<\/mass>/20<\/mass>/g' model.sdf +sed -i -e 's@.*@1@g' model.sdf +sed -i -e 's@.*@1@g' model.sdf +sed -i -e 's@.*@1@g' model.sdf diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae new file mode 100644 index 0000000..4357b2d --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/meshes/box_link_mesh.dae @@ -0,0 +1,101 @@ + + + + + Someone + Assimp Collada Exporter + + 2000-01-01T23:59:59 + 2000-01-01T23:59:59 + + Y_UP + + + + + + + + 0 0 0 1 + + + 0.371094 0.371094 0.371094 1 + + + 0.742188 0.742188 0.742188 1 + + + 0 0 0 1 + + + 10 + + + 0 0 0 0 + + + + + + + + + + + + + + + + -50 25 80 -50 25 0 -50 -25 0 -50 -25 80 -50 -25 0 50 -25 0 50 -25 80 -50 -25 80 50 -25 0 50 25 0 50 25 80 50 -25 80 50 25 80 -50 25 80 -47.5 22.5 80 47.5 22.5 80 50 -25 80 -50 -25 80 -47.5 -22.5 80 47.5 -22.5 80 50 25 0 -50 25 0 -50 25 80 50 25 80 -50 25 0 50 25 0 50 -25 0 -50 -25 0 -47.5 22.5 3.75 -47.5 22.5 80 -47.5 -22.5 80 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 -22.5 3.75 -47.5 -22.5 80 47.5 -22.5 80 47.5 22.5 3.75 47.5 -22.5 3.75 47.5 -22.5 80 47.5 22.5 80 47.5 22.5 3.75 -47.5 22.5 3.75 -47.5 -22.5 3.75 47.5 -22.5 3.75 -47.5 22.5 3.75 47.5 22.5 3.75 47.5 22.5 80 -47.5 22.5 80 + + + + + + + + + + -1 0 -0 -1 0 -0 -1 0 -0 -1 0 0 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -0 1 0 0 1 0 -0 1 0 0 1 0 1 0 0 1 0 0 1 0 -0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1 0 -0 1 0 -0 1 0 -0 1 0 0 0 1 0 0 1 0 0 1 0 -0 1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 0 1 0 0 1 0 0 1 0 0 1 0 -1 0 0 -1 0 0 -1 0 -0 -1 0 + + + + + + + + + + + + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

0 1 2 2 3 0 4 5 6 6 7 4 8 9 10 10 11 8 12 13 14 12 14 15 16 12 15 14 13 17 18 14 17 19 18 17 19 17 16 19 16 15 20 21 22 22 23 20 24 25 26 26 27 24 28 29 30 30 31 28 32 33 34 34 35 32 36 37 38 38 39 36 40 41 42 42 43 40 44 45 46 46 47 44

+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config new file mode 100644 index 0000000..b3943ea --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.config @@ -0,0 +1,11 @@ + + + dropping_zone_box + 1.0 + model.sdf + + Yuki Furuta + furushchev@jsk.imi.i.u-tokyo.ac.jp + + mbzirc-jsk + diff --git a/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf new file mode 100644 index 0000000..3979c85 --- /dev/null +++ b/jsk_mbzirc_common/gazebo_model/models/dropping_zone_box/model.sdf @@ -0,0 +1,51 @@ + + + + 0 0 0 0 -0 0 + + 0 0 0 0 -0 0 + 20 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://dropping_zone_box/meshes/box_link_mesh.dae + + + + + + + + + 0.9 + 0.9 + + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + model://dropping_zone_box/meshes/box_link_mesh.dae + + + + 1 + + 0 + + + diff --git a/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world b/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world index 82c7217..e0d75ce 100644 --- a/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world +++ b/jsk_mbzirc_common/gazebo_model/world/mbzirc_arena_task_3.world @@ -257,6 +257,12 @@ + + -65 25 0 0 0 0 + + model://dropping_zone_box + + From 94e76f01a345ee02723bb7023253bbb024c80354 Mon Sep 17 00:00:00 2001 From: Yuki Furuta Date: Mon, 6 Jun 2016 16:05:32 +0900 Subject: [PATCH 3/3] [mbzirc.rosinstall] use furushchev/gazebo_ros_pkgs until https://github.com/ros-simulation/gazebo_ros_pkgs/pull/460 is released --- mbzirc.rosinstall | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/mbzirc.rosinstall b/mbzirc.rosinstall index a5d1ad8..3e49ad8 100644 --- a/mbzirc.rosinstall +++ b/mbzirc.rosinstall @@ -16,4 +16,8 @@ local-name: husky_simulator uri: https://github.com/k-okada/husky_simulator.git version: f8a670d1578254ef6d5c7627ea6f7ac6b8d99a15 - +# https://github.com/ros-simulation/gazebo_ros_pkgs/pull/460 +- git: + local-name: gazebo_ros_pkgs + uri: https://github.com/furushchev/gazebo_ros_pkgs.git + version: fix-camera-util