Fix imu tf frame #373
Fix imu tf frame #373
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WalkthroughThe recent updates streamline the Panther robot's launch files and URDF configurations by consolidating IMU parameters into simpler forms. A new argument for specifying the Panther software version enhances flexibility and clarity. These changes improve maintainability, simplify the launch process, and ensure functionality with a clearer parameter structure. Changes
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Actionable comments posted: 0
Outside diff range, codebase verification and nitpick comments (1)
panther_controller/launch/controller.launch.py (1)
Environment variable
PANTHER_ROBOT_VERSIONis not set.Please ensure that the
PANTHER_ROBOT_VERSIONenvironment variable is correctly set in the deployment environment. This variable is crucial for the correct functioning of thepanther_versionargument in thecontroller.launch.pyfile.
- Verify the deployment scripts or environment configuration files to ensure
PANTHER_ROBOT_VERSIONis set.- Ensure that the environment variable is exported correctly before launching the application.
Analysis chain
Line range hint
68-68:
Ensurepanther_versionis correctly set.The
panther_versionargument is set using an environment variable with a default value. Verify that this environment variable is set correctly in the deployment environment.Scripts executed
The following scripts were executed for the analysis:
Script:
#!/bin/bash # Description: Verify that the PANTHER_ROBOT_VERSION environment variable is set correctly. # Test: Check the environment variable. Expect: PANTHER_ROBOT_VERSION to be set. if [ -z "${PANTHER_ROBOT_VERSION}" ]; then echo "PANTHER_ROBOT_VERSION is not set" else echo "PANTHER_ROBOT_VERSION is set to ${PANTHER_ROBOT_VERSION}" fiLength of output: 90
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (7)
- panther_controller/launch/controller.launch.py (1 hunks)
- panther_description/launch/load_urdf.launch.py (5 hunks)
- panther_description/urdf/body.urdf.xacro (2 hunks)
- panther_description/urdf/gazebo.urdf.xacro (2 hunks)
- panther_description/urdf/panther.urdf.xacro (2 hunks)
- panther_description/urdf/panther_macro.urdf.xacro (2 hunks)
- panther_gazebo/launch/spawn_robot.launch.py (1 hunks)
Files skipped from review due to trivial changes (3)
- panther_description/urdf/gazebo.urdf.xacro
- panther_description/urdf/panther.urdf.xacro
- panther_gazebo/launch/spawn_robot.launch.py
Additional comments not posted (10)
panther_description/urdf/body.urdf.xacro (2)
7-7: Consolidate IMU parameters for simplicity.The consolidation of IMU parameters into
imu_xyzandimu_rpyenhances the macro's usability and clarity.
42-42: Update origin element with consolidated IMU parameters.The origin element now uses
imu_xyzandimu_rpy, maintaining functionality while simplifying the data structure.panther_description/launch/load_urdf.launch.py (2)
91-96: Introducepanther_versionargument for configurability.The new
panther_versionargument enhances the configurability of the launch file by enabling the specification of the Panther robot's version at runtime.
188-188: Adddeclare_panther_version_argto actions list.The addition of
declare_panther_version_argensures that the newpanther_versionargument is declared and available for use in the launch file.panther_description/urdf/panther_macro.urdf.xacro (4)
13-20: Streamline IMU properties based on Panther version.The conditional logic for defining IMU properties based on the Panther version streamlines the handling of IMU parameters and reduces redundancy.
22-22: Enhance namespace property definition.The conditional expression for defining the namespace property enhances clarity and reduces the potential for errors in namespace handling.
35-36: Update body declaration with consolidated IMU parameters.The body declaration now uses
imu_xyzandimu_rpy, maintaining functionality while simplifying the data structure.
Line range hint
70-70:
Include Panther system parameters inros2_control.The inclusion of Panther system parameters in the
ros2_controlelement ensures that the Panther system is correctly configured based on the provided parameters.panther_controller/launch/controller.launch.py (2)
Line range hint
14-14:
Remove unused IMU parameters.The removal of IMU parameters simplifies the launch configuration. Ensure that these parameters are not required elsewhere in the codebase.
Line range hint
15-15:
Addpanther_versionargument.The addition of the
panther_versionargument enhances flexibility by allowing configuration based on the Panther hardware version.
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Actionable comments posted: 0
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (4)
- panther_controller/launch/controller.launch.py (1 hunks)
- panther_description/launch/load_urdf.launch.py (1 hunks)
- panther_description/urdf/panther.urdf.xacro (2 hunks)
- panther_description/urdf/panther_macro.urdf.xacro (2 hunks)
Files skipped from review as they are similar to previous changes (3)
- panther_controller/launch/controller.launch.py
- panther_description/launch/load_urdf.launch.py
- panther_description/urdf/panther.urdf.xacro
Additional comments not posted (5)
panther_description/urdf/panther_macro.urdf.xacro (5)
11-12: Consolidate IMU properties.The introduction of
imu_xyzandimu_rpyproperties simplifies the configuration by consolidating IMU position and rotation values. Ensure these default values are appropriate for all use cases.
20-20: Enhance namespace handling.The introduction of the
nsproperty with a conditional expression enhances clarity and minimizes potential errors in namespace handling. Ensure that the conditional expression is correct.
33-34: Simplify IMU configuration.The usage of the
imu_xyzandimu_rpyproperties in thebody.bodydeclaration simplifies the configuration. Ensure the values are correctly passed to thebody.bodydeclaration.
11-12: Consolidate IMU properties.The introduction of
imu_xyzandimu_rpyproperties simplifies the configuration by consolidating IMU position and rotation values. Ensure these default values are appropriate for all use cases.
15-17: Conditional IMU properties for simulation.The conditional logic sets
imu_xyzandimu_rpyproperties based on theuse_simparameter, ensuring different configurations for simulation and real hardware. Verify that the values provided are correct for simulation.
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Actionable comments posted: 0
Review details
Configuration used: .coderabbit.yaml
Review profile: CHILL
Files selected for processing (1)
- panther_description/urdf/panther_macro.urdf.xacro (2 hunks)
Files skipped from review as they are similar to previous changes (1)
- panther_description/urdf/panther_macro.urdf.xacro
Additional context used
Learnings (1)
Common learnings
Learnt from: delihus PR: husarion/panther_ros#373 File: panther_description/urdf/gazebo.urdf.xacro:9-9 Timestamp: 2024-07-25T16:10:26.126Z Learning: When the user requests to find and apply similar patterns across the codebase, provide a detailed plan and necessary changes for the user to implement the changes.
Description
In simulation the tf
imu_linkhave diffternt transformation than in real robot.Modifications
imu_xyzandimu_rpynspropertySummary by CodeRabbit
Summary by CodeRabbit
New Features
Improvements