Apparently our robot is ready for everything coming in front of it, but we need to perform one last
test related to a new idea in our simulation, and that is joint XS test.
This test is very, very important.
The reason is computers don't know what is the link.
Where is the wheel?
Where is the cost of wheel and base?
Computers don't understand that.
So we have to tell them the exact and specific things related to the rotation.
For example, in this case, the wheel should be rotating in this direction.
Okay.
But the wheel is rotating in this direction, which is along the X, which is along the Z axis.
And what it should be doing, it should be rotating along y axis.
And currently it is rotating in the z-axis orientation.
And you can see we don't want our being to be rotated in this axis.
You want it to be rotated in such a way that the car moves forward.
This is a serious problem that is going to be solved using the joint axis test.
And let's take a look into similar problems and solve them before we move any forward.
If you remember in Blender, we rotated our robot's wheel and it repeated along the point in the middle.
So its joint is going to be at that very point.
Let's take a look.
We are going to first perform Carlinville as we have made a lot of changes, then we are going to run
this launch for.
We cannot see a robot because it is very small.
I am going to add another topic into our.
That is.
Yes.
Meaning transform.
Whoa.
It is a robot.
It is very small.
So we have to reduce the size of these markers to 0.05.
And they are going to be represented.
The point at which the joints are.
If I disable the visual robotics model and I want to show the names as well, you can see.
We have a base footprint.
Then at a certain height, we have a base.
Then in the forward movement we have the Gloucester Village and Greens where I think they are opposite.
The light should be on the right side.
So we have a basic conceptual problem here.
But the point here is this footprint is zero point some length below base.
Let's take a look.
The joint between base and base footprint is at 0.005 in z-axis.
That's why they have this height and.
We write and we have the same concept that they have this X, Y, Z between the two joints.
We need to fix a thing about the naming convention and one more thing that we're going to test right
now and for which we have added the the way of robot or joint state publisher, which tells us about
when we are going to write the controllers to drive the robot, how automobiles are too big, joints
are going to act for the wheel right joint.
Let's give some fake values and see the output so you can see the V is rotating appropriately the way
it should be rotating.
Let's take a look on the next side, the left wheel and you can see the wheel is rotating along z x
is it should be rotated rotating along its y axis.
This green is always a by is in all of his monitors so it should be rotating along y axis.
And let's take a look on the what was the name V left V left axis of rotation is A to z.
Okay.
That was the problem.
Didn't change it to be y axis.
First zero is of X, the second is Y, and the third one is of Z.
So we have access to be VI or very Z.
Now let's come to the point.
It is not going to be applied right now because we have not closed it and not.
Collagen building and the better meat that is currently better meet your server is currently containing
this robot structure costed.
Let's take a look.
Okay.
It is also rotating on the wrong axis.
It is rotating on the Y axis.
Let's take a look.
It is rotating on the Y axis.
But we wanted to be rotating along z-axis this blue line, so let's change it to be rotation along z-axis.
I think we have changed a lot of things.
Let's close them and we need to perform one more important point, which is.
Change the location of.
Right.
And we were right then left.
We joined Civic.
And for phone call can be then again launch the launch by.
Let's take a look now.
Whoa.
We have not saved the ATF.
That's why it is not appearing on the start of Let's now save it control.
Let's take a look.
So I have changed the location of this as well.
Now the right is on the correct right location.
Now, Will Wright was rotating fine previous.
Let's take a look on the left and it is now rotating according to our requirement that it should be
rotating Gloucester village.
Take a look.
And now it is rotating appropriately to the point where it should have been rotating.
So all of our joint are now set.
Our car is ready to be driven in a real world simulation model is ready.
But there are certain properties issues that will come up, like these properties of resizing that still
meshes in the next section.
Let's move to that gazebo in relation.