WheelSlipParametersCmd: add friction #464
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This adds lateral and longitudinal friction parameters to the WheelSlipParametersCmd message to match the parameters supported in the gazebo_ros_wheel_slip plugin. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
caguero
reviewed
Oct 2, 2024
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caguero
approved these changes
Oct 3, 2024
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🎉 New feature
Part of gazebosim/gz-sim#1845
Summary
The goal for gazebosim/gz-sim#1845 is to show how to use gz-transport parameters to emulate ROS parameters, with the parameters used by the gazebo_ros_wheel_slip plugin as a motivating example with the
wheel_slip_parameters_cmd.protomessage type. Since support for friction coefficients was added to that plugin in ros-simulation/gazebo_ros_pkgs#1393, this pull request adds corresponding lateral and longitudinal friction parameters to the proto message.Test it
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.