From 84d31f81151f3c5bb41e232dfe0ba608f8f35734 Mon Sep 17 00:00:00 2001
From: Serafadam <serafadam@gmail.com>
Date: Fri, 26 Jan 2024 15:14:40 +0000
Subject: [PATCH 1/2] gazebo fix

---
 rae_description/urdf/rae.urdf.xacro | 2 +-
 rae_gazebo/CMakeLists.txt           | 2 +-
 rae_gazebo/launch/gazebo.launch.py  | 5 ++---
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/rae_description/urdf/rae.urdf.xacro b/rae_description/urdf/rae.urdf.xacro
index b4fd7b9..f299473 100644
--- a/rae_description/urdf/rae.urdf.xacro
+++ b/rae_description/urdf/rae.urdf.xacro
@@ -2,7 +2,7 @@
 <robot name="rae"
   xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="inertial_moment_calc.xacro"/>
-  <!-- <xacro:include filename="rae_gazebo.xacro"/> -->
+  <xacro:include filename="rae_gazebo_control.urdf.xacro"/>
   <xacro:include filename="rae_ros2_control.urdf.xacro"/>
   <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
 
diff --git a/rae_gazebo/CMakeLists.txt b/rae_gazebo/CMakeLists.txt
index 2a2803a..d956388 100644
--- a/rae_gazebo/CMakeLists.txt
+++ b/rae_gazebo/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 
 install(
-    DIRECTORY launch
+    DIRECTORY launch worlds
     DESTINATION share/${PROJECT_NAME}/
 )
 
diff --git a/rae_gazebo/launch/gazebo.launch.py b/rae_gazebo/launch/gazebo.launch.py
index ba5a6ad..9f2cdcd 100644
--- a/rae_gazebo/launch/gazebo.launch.py
+++ b/rae_gazebo/launch/gazebo.launch.py
@@ -12,9 +12,8 @@
 def launch_setup(context, *args, **kwargs):
     rae_description_pkg = get_package_share_directory('rae_description')
     ros_gz_sim_pkg = get_package_share_directory('ros_gz_sim')
-
     world_file = LaunchConfiguration('sdf_file').perform(context)
-
+    print(f'world_file: {world_file}')
     return [
         SetEnvironmentVariable(
             name='IGN_GAZEBO_RESOURCE_PATH',
@@ -29,7 +28,7 @@ def launch_setup(context, *args, **kwargs):
                 os.path.join(ros_gz_sim_pkg, 'launch', 'gz_sim.launch.py')
             ]),
             launch_arguments={
-                'gz_args': '-r /home/mateo/Dev/Projects/rae/rae-sandbox/src/rae_gazebo/worlds/world_demo.sdf',
+                'gz_args': world_file,
                 'use_sim_time': 'True'
             }.items()
         ),

From 4800405049ba3ac832d7e9179a7f42cdd3984a83 Mon Sep 17 00:00:00 2001
From: Serafadam <serafadam@gmail.com>
Date: Fri, 2 Feb 2024 13:40:11 +0000
Subject: [PATCH 2/2] format

---
 rae_hw/src/peripherals/led.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/rae_hw/src/peripherals/led.cpp b/rae_hw/src/peripherals/led.cpp
index c6074e6..578b0c0 100644
--- a/rae_hw/src/peripherals/led.cpp
+++ b/rae_hw/src/peripherals/led.cpp
@@ -92,12 +92,12 @@ uint8_t LEDNode::convertColor(float num) {
 }
 
 float LEDNode::convertOpacity(float num) {
-    if (num < 0) {
-        num = 0;} 
-    else if(num > 1) {
+    if(num < 0) {
+        num = 0;
+    } else if(num > 1) {
         num = 1;
     }
-     
+
     return num;
 }
 
@@ -126,9 +126,9 @@ void LEDNode::fillBuffer(uint8_t color, float intensity) {
 }
 void LEDNode::setSinglePixel(uint16_t pixel, uint8_t r, uint8_t g, uint8_t b, float a, float frequency) {
     auto mapping_pair = logicalToPhysicalMapping.find(pixel);
-    const float phaseOffset = (M_PI/ 4);  // Initial phase offset, if needed
-    const float amplitudeOffset = 1.0f;   // Add 1 to sine wave to avoid negative values
-    const float scaler = 2.0f;            // Scale the sine wave to 0-1
+    const float phaseOffset = (M_PI / 4);  // Initial phase offset, if needed
+    const float amplitudeOffset = 1.0f;    // Add 1 to sine wave to avoid negative values
+    const float scaler = 2.0f;             // Scale the sine wave to 0-1
     const float intensity = ((std::sin(frame / (2 * M_PI) * frequency + phaseOffset) + amplitudeOffset) / scaler) * a;
     if(mapping_pair != logicalToPhysicalMapping.end()) {
         uint16_t physicalID = mapping_pair->second;