Improve visibility of the simple robot

ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py

@@ -153,12 +153,12 @@ class Forward_Kinematics_Node_1Dof(Node):
         marker.type = Marker.SPHERE
         marker.action = Marker.ADD
         marker.pose = current_pose
-        marker.scale.x = 0.05
-        marker.scale.y = 0.05
-        marker.scale.z = 0.05
+        marker.scale.x = 0.035
+        marker.scale.y = 0.035
+        marker.scale.z = 0.035
         marker.color.a = 1.0
-        marker.color.r = 1.0
-        marker.color.g = 0.0
+        marker.color.r = 0.0
+        marker.color.g = 0.75
         marker.color.b = 0.0
 
         # publish the marker

ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf

@@ -16,8 +16,8 @@
       <geometry>
         <box size = "0.5 0.5 0.1"/>
       </geometry>
-      <material name="grey">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="oak">
+        <color rgba="0.84375 0.70703125 0.53515625 1"/>
       </material>
     </visual>
     <visual>
@@ -25,7 +25,7 @@
       <geometry>
         <box size = "0.9 1.9 0.47"/>
       </geometry>
-      <material name="grey">
+      <material name="oak">
         <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
@@ -37,8 +37,8 @@
       <geometry>
         <cylinder length="0.71" radius="0.02"/>
       </geometry>
-      <material name="green">
-        <color rgba="0.0 0.75 0.0 1"/>
+      <material name="blue">
+        <color rgba="0.0 0.0 0.75 1"/>
       </material>
     </visual>
     <inertial>
@@ -62,8 +62,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="red">
-        <color rgba="0.75 0.0 0.0 1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0 1"/>
       </material>
     </visual>
     <inertial>
@@ -85,8 +85,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="red">
-        <color rgba="0.75 0.0 0.0 1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0 1"/>
       </material>
     </visual>
     <inertial>

ros2_ws/src/simple_robot_2dof/urdf/simple_robot.urdf

@@ -15,8 +15,8 @@
       <geometry>
         <box size = "0.5 0.5 0.1"/>
       </geometry>
-      <material name="grey">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="oak">
+        <color rgba="0.84375 0.70703125 0.53515625 1"/>
       </material>
     </visual>
     <visual>
@@ -61,8 +61,8 @@
       <geometry>
         <cylinder length="0.41" radius="0.02"/>
       </geometry>
-      <material name="green">
-        <color rgba="0.0 0.75 0.0 1"/>
+      <material name="blue">
+        <color rgba="0.0 0.0 0.75 1"/>
       </material>
     </visual>
     <inertial>
@@ -86,8 +86,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0.0 0.0 0.75 1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0 1"/>
       </material>
     </visual>
     <inertial>
@@ -109,8 +109,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0.0 0.0 0.75  1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0  1"/>
       </material>
     </visual>
     <inertial>

ros2_ws/src/simple_robot_3dof/urdf/simple_robot.urdf

@@ -15,8 +15,8 @@
       <geometry>
         <box size = "0.5 0.5 0.1"/>
       </geometry>
-      <material name="grey">
-        <color rgba="0.5 0.5 0.5 1"/>
+      <material name="oak">
+        <color rgba="0.84375 0.70703125 0.53515625 1"/>
       </material>
     </visual>
     <visual>
@@ -61,8 +61,8 @@
       <geometry>
         <cylinder length="0.41" radius="0.02"/>
       </geometry>
-      <material name="green">
-        <color rgba="0.0 0.75 0.0 1"/>
+      <material name="blue">
+        <color rgba="0.0 0.0 0.75 1"/>
       </material>
     </visual>
     <inertial>
@@ -86,8 +86,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0.0 0.0 0.75 1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0 1"/>
       </material>
     </visual>
     <inertial>
@@ -111,8 +111,8 @@
       <geometry>
         <cylinder length="0.3" radius="0.02"/>
       </geometry>
-      <material name="blue">
-        <color rgba="0.0 0.0 0.75  1"/>
+      <material name="green">
+        <color rgba="0.0 0.75 0.0  1"/>
       </material>
     </visual>
     <inertial>