Merge pull request #367 from fqez/fix_pose3d_taxi

[issue #359] Added pose3D to taxi models. Fix #359
JdeRobot · Mar 8, 2016 · b405e2c · b405e2c
2 parents c4a658b + d8207a4
commit b405e2c
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/src/stable/components/gazeboserver/models/whiteTaxi/model.sdf b/src/stable/components/gazeboserver/models/whiteTaxi/model.sdf
@@ -351,6 +351,7 @@
         <front_left_steering_joint>front_left_steering_wheel</front_left_steering_joint>
         <!--<torque>5</torque>-->
       </plugin>
+      <plugin name="pose3d" filename="libpose3dTurtlebotJde.so"/> 
   </model>
 </sdf>
 
diff --git a/src/stable/components/gazeboserver/models/yellowTaxi/model.sdf b/src/stable/components/gazeboserver/models/yellowTaxi/model.sdf
@@ -352,5 +352,6 @@
 			  <front_left_steering_joint>front_left_steering_wheel</front_left_steering_joint>
 			  <!--<torque>5</torque>-->
       </plugin>
+      <plugin name="pose3d" filename="libpose3dTurtlebotJde.so"/> 
   </model>
-</sdf>
+</sdf>
diff --git a/src/stable/components/gazeboserver/plugins/f1/motors.cc b/src/stable/components/gazeboserver/plugins/f1/motors.cc
@@ -151,7 +151,7 @@ namespace gazebo
         this->steerLeftJoint->SetForce(0,580*robotMotors.targetLeftSteerPos);
 #else
         float z = model->GetRelativeLinearVel().z;
-        math::Vector3 vel(0,-robotMotors.v/10.0,z);
+        math::Vector3 vel(0,-robotMotors.v/1.0,z);
 
         math::Quaternion rot = model->GetWorldPose().rot;
         vel = rot.GetAsMatrix3()*vel;