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See issue #641.
The problem was our well known Gazebo "feature" that eliminates fixed joints when converting from
URDF
toSDF
. Then, the pinger link disappeared. I converted the fixed joint into a revolute joint with no movement to bypass the problem.How to test it?
Look at the WAMV in the entity tree and verify that there is a "pinger" listed. If you select the pinger link, you should observe a tiny sphere between the two pontoons as I enabled a small visual for reference.
Additionally, if you comment out the line
221
inwamv_gazebo.urdf.xacro
:You shouldn't see the pinger link in the WAMV entity tree and the functionality of the pinger won't be available (
gz topic -l
shouldn't report the topic/wamv/pingers/pinger/range_bearing
).