Mock test

[harleylara]

List of changes:

• refactor of the launch system,
• add xacro argument for handling hardware interface selection (sim or real)
• update documentation

About the refactor:

The main idea behind the reactor is to keep a clean and modular code. The previous robot.launch.py was growing rapidly in complexity and getting difficult to follow and navigate, for that reason the launch system was breakdown into sub-components:

• state_publisher.launch.py
• sim_gazebo.launch.py
• controller.launch.py
• start_rviz.launch.py

In addition to the re-structuring the whole launch system was changed to use OpaqueFunctions, the idea behind them is to be able to evaluate LaunchConfiguration at runtime. Example:

For launch the robot description as urdf we use xacro.process_file from ros xacro, the main problem arises when you want to convert launch arguments to xacro arguments.

side node related with xacro.process_file, the key-word argument mappings is not document and required knowledge about the source code.

Bug Fixes

• Launch robot in stand prevents undesirables collisions: At the moment of launching the simulation with the stand and the robot, sometimes the robot appeared first and then the stand, this produced unwanted interbody collisions between the two objects, because when the robot was falling due to gravity it was intercepted by the sudden appearance of the stand, this caused the robot to shoot in random directions.