From f5fed9467aeab88f98d07729d4b720b369a6c68d Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Tue, 16 Jul 2024 15:16:18 +0200
Subject: [PATCH 1/3] Fix mecanum prefixes

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 panther/panther_hardware.repos   | 3 ++-
 panther/panther_simulation.repos | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
index f3188165a..4b5c186ac 100644
--- a/panther/panther_hardware.repos
+++ b/panther/panther_hardware.repos
@@ -3,10 +3,11 @@ repositories:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.ROS2
     version: a0de087a2f3af5ec5a19edd622aa85506105afcd
+  # Fix mecanum namespaces
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 217b09830f5f42930098b9992eda41710702b625
+    version: 478084b41de91033534f3e5853e63890fc4e4dd6
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git
diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
index 731d9ac63..aa4a47b25 100644
--- a/panther/panther_simulation.repos
+++ b/panther/panther_simulation.repos
@@ -3,10 +3,11 @@ repositories:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.ROS2
     version: a0de087a2f3af5ec5a19edd622aa85506105afcd
+  # Fix mecanum namespaces
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 217b09830f5f42930098b9992eda41710702b625
+    version: 478084b41de91033534f3e5853e63890fc4e4dd6
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git

From f62b41ba0bbf64fd401781c0e9a7aebc2d7e40ed Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Thu, 18 Jul 2024 11:06:31 +0200
Subject: [PATCH 2/3] fixed frames

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 panther/panther_hardware.repos   | 2 +-
 panther/panther_simulation.repos | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
index 4b5c186ac..d2963e880 100644
--- a/panther/panther_hardware.repos
+++ b/panther/panther_hardware.repos
@@ -7,7 +7,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 478084b41de91033534f3e5853e63890fc4e4dd6
+    version: 61da6f9723c41b48e23b3a3e4d3b1cf28df1f28a
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git
diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
index aa4a47b25..a2fe6298e 100644
--- a/panther/panther_simulation.repos
+++ b/panther/panther_simulation.repos
@@ -7,7 +7,7 @@ repositories:
   husarion_controllers:
     type: git
     url: https://github.com/husarion/husarion_controllers
-    version: 478084b41de91033534f3e5853e63890fc4e4dd6
+    version: 61da6f9723c41b48e23b3a3e4d3b1cf28df1f28a
   panther_msgs:
     type: git
     url: https://github.com/husarion/panther_msgs.git

From f86723235fc4765950f34cf51c347ffe10387c39 Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@husarion.com>
Date: Mon, 22 Jul 2024 16:01:56 +0200
Subject: [PATCH 3/3] Added mecanum argument | added y friction to normal
 wheels

Signed-off-by: Jakub Delicat <jakub.delicat@husarion.com>
---
 panther_description/config/WH01.yaml      |  1 +
 panther_description/config/WH02.yaml      |  1 +
 panther_description/config/WH04.yaml      |  1 +
 panther_description/urdf/wheel.urdf.xacro | 28 ++++++++++++-----------
 4 files changed, 18 insertions(+), 13 deletions(-)

diff --git a/panther_description/config/WH01.yaml b/panther_description/config/WH01.yaml
index c4007f696..d1c79e202 100644
--- a/panther_description/config/WH01.yaml
+++ b/panther_description/config/WH01.yaml
@@ -6,3 +6,4 @@ inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
 inertia_y_offset: 0.0
 mesh_package: panther_description
 folder_path: meshes/WH01
+mecanum: False
diff --git a/panther_description/config/WH02.yaml b/panther_description/config/WH02.yaml
index 937059f09..91f415fae 100644
--- a/panther_description/config/WH02.yaml
+++ b/panther_description/config/WH02.yaml
@@ -6,3 +6,4 @@ inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
 inertia_y_offset: 0.0
 mesh_package: panther_description
 folder_path: meshes/WH02
+mecanum: True
diff --git a/panther_description/config/WH04.yaml b/panther_description/config/WH04.yaml
index 978279216..235101cd7 100644
--- a/panther_description/config/WH04.yaml
+++ b/panther_description/config/WH04.yaml
@@ -6,3 +6,4 @@ inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
 inertia_y_offset: 0.0
 mesh_package: panther_description
 folder_path: meshes/WH04
+mecanum: False
diff --git a/panther_description/urdf/wheel.urdf.xacro b/panther_description/urdf/wheel.urdf.xacro
index 6e980d6f8..1ad63478e 100644
--- a/panther_description/urdf/wheel.urdf.xacro
+++ b/panther_description/urdf/wheel.urdf.xacro
@@ -69,19 +69,21 @@
     </link>
 
     <xacro:if value="${use_sim}">
-      <gazebo reference="${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
-        <collision>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1.0</mu>
-                <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-      </gazebo>
+      <xacro:if value="${wheel_config['mecanum']}">
+        <gazebo reference="${prefix}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
+          <collision>
+            <surface>
+              <friction>
+                <ode>
+                  <mu>1.0</mu>
+                  <mu2>0.0</mu2>
+                  <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
+                </ode>
+              </friction>
+            </surface>
+          </collision>
+        </gazebo>
+      </xacro:if>
     </xacro:if>
 
   </xacro:macro>