From 845f3fdb1f83b72e4acbe23de5411a163d52663f Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Sun, 18 Aug 2024 20:50:07 +0200
Subject: [PATCH] Improve visibility of the simple robot
---
.../forward_kinematics_node_1dof.py | 10 +++++-----
.../simple_robot_1dof/urdf/simple_robot.urdf | 18 +++++++++---------
.../simple_robot_2dof/urdf/simple_robot.urdf | 16 ++++++++--------
.../simple_robot_3dof/urdf/simple_robot.urdf | 16 ++++++++--------
4 files changed, 30 insertions(+), 30 deletions(-)
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
index 04b9161..7c6eda2 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+++ b/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
diff --git a/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf b/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
index 54b1468..a0f2e2e 100644
--- a/ros2_ws/src/simple_robot_1dof/urdf/simple_robot.urdf
+++ b/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>
diff --git a/ros2_ws/src/simple_robot_2dof/urdf/simple_robot.urdf b/ros2_ws/src/simple_robot_2dof/urdf/simple_robot.urdf
index f6dc71d..eafb87d 100644
--- a/ros2_ws/src/simple_robot_2dof/urdf/simple_robot.urdf
+++ b/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>
diff --git a/ros2_ws/src/simple_robot_3dof/urdf/simple_robot.urdf b/ros2_ws/src/simple_robot_3dof/urdf/simple_robot.urdf
index 447d315..61f8b81 100644
--- a/ros2_ws/src/simple_robot_3dof/urdf/simple_robot.urdf
+++ b/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>
--
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