1
00:00:00,090 --> 00:00:07,860
Apparently our robot is ready for everything coming in front of it, but we need to perform one last

2
00:00:07,860 --> 00:00:13,800
test related to a new idea in our simulation, and that is joint XS test.

3
00:00:14,370 --> 00:00:16,540
This test is very, very important.

4
00:00:16,560 --> 00:00:21,910
The reason is computers don't know what is the link.

5
00:00:21,930 --> 00:00:22,950
Where is the wheel?

6
00:00:22,950 --> 00:00:24,990
Where is the cost of wheel and base?

7
00:00:25,290 --> 00:00:27,300
Computers don't understand that.

8
00:00:28,020 --> 00:00:33,840
So we have to tell them the exact and specific things related to the rotation.

9
00:00:33,840 --> 00:00:39,330
For example, in this case, the wheel should be rotating in this direction.

10
00:00:39,750 --> 00:00:40,200
Okay.

11
00:00:41,280 --> 00:00:49,380
But the wheel is rotating in this direction, which is along the X, which is along the Z axis.

12
00:00:49,560 --> 00:00:54,510
And what it should be doing, it should be rotating along y axis.

13
00:00:54,510 --> 00:00:57,900
And currently it is rotating in the z-axis orientation.

14
00:00:58,110 --> 00:01:02,550
And you can see we don't want our being to be rotated in this axis.

15
00:01:02,790 --> 00:01:06,210
You want it to be rotated in such a way that the car moves forward.

16
00:01:06,240 --> 00:01:11,250
This is a serious problem that is going to be solved using the joint axis test.

17
00:01:11,700 --> 00:01:16,560
And let's take a look into similar problems and solve them before we move any forward.

18
00:01:16,680 --> 00:01:22,710
If you remember in Blender, we rotated our robot's wheel and it repeated along the point in the middle.

19
00:01:22,920 --> 00:01:25,410
So its joint is going to be at that very point.

20
00:01:25,650 --> 00:01:26,550
Let's take a look.

21
00:01:27,210 --> 00:01:32,580
We are going to first perform Carlinville as we have made a lot of changes, then we are going to run

22
00:01:32,820 --> 00:01:33,990
this launch for.

23
00:01:35,410 --> 00:01:38,290
We cannot see a robot because it is very small.

24
00:01:38,320 --> 00:01:41,230
I am going to add another topic into our.

25
00:01:41,530 --> 00:01:42,250
That is.

26
00:01:43,480 --> 00:01:43,870
Yes.

27
00:01:44,500 --> 00:01:45,450
Meaning transform.

28
00:01:45,460 --> 00:01:46,180
Whoa.

29
00:01:47,020 --> 00:01:48,190
It is a robot.

30
00:01:48,790 --> 00:01:49,690
It is very small.

31
00:01:49,690 --> 00:01:54,850
So we have to reduce the size of these markers to 0.05.

32
00:01:55,300 --> 00:01:57,460
And they are going to be represented.

33
00:01:57,460 --> 00:02:00,840
The point at which the joints are.

34
00:02:00,850 --> 00:02:07,990
If I disable the visual robotics model and I want to show the names as well, you can see.

35
00:02:09,210 --> 00:02:11,100
We have a base footprint.

36
00:02:11,430 --> 00:02:14,250
Then at a certain height, we have a base.

37
00:02:14,790 --> 00:02:23,170
Then in the forward movement we have the Gloucester Village and Greens where I think they are opposite.

38
00:02:23,200 --> 00:02:26,010
The light should be on the right side.

39
00:02:26,340 --> 00:02:31,110
So we have a basic conceptual problem here.

40
00:02:31,110 --> 00:02:37,530
But the point here is this footprint is zero point some length below base.

41
00:02:37,680 --> 00:02:38,520
Let's take a look.

42
00:02:39,710 --> 00:02:45,730
The joint between base and base footprint is at 0.005 in z-axis.

43
00:02:45,740 --> 00:02:49,460
That's why they have this height and.

44
00:02:50,490 --> 00:02:58,200
We write and we have the same concept that they have this X, Y, Z between the two joints.

45
00:02:59,290 --> 00:03:06,640
We need to fix a thing about the naming convention and one more thing that we're going to test right

46
00:03:06,640 --> 00:03:14,740
now and for which we have added the the way of robot or joint state publisher, which tells us about

47
00:03:14,950 --> 00:03:20,980
when we are going to write the controllers to drive the robot, how automobiles are too big, joints

48
00:03:20,990 --> 00:03:23,680
are going to act for the wheel right joint.

49
00:03:24,220 --> 00:03:33,460
Let's give some fake values and see the output so you can see the V is rotating appropriately the way

50
00:03:33,460 --> 00:03:34,750
it should be rotating.

51
00:03:34,930 --> 00:03:42,360
Let's take a look on the next side, the left wheel and you can see the wheel is rotating along z x

52
00:03:42,370 --> 00:03:46,690
is it should be rotated rotating along its y axis.

53
00:03:46,690 --> 00:03:52,990
This green is always a by is in all of his monitors so it should be rotating along y axis.

54
00:03:53,200 --> 00:04:01,060
And let's take a look on the what was the name V left V left axis of rotation is A to z.

55
00:04:01,570 --> 00:04:01,760
Okay.

56
00:04:01,850 --> 00:04:02,810
That was the problem.

57
00:04:02,810 --> 00:04:05,140
Didn't change it to be y axis.

58
00:04:06,150 --> 00:04:10,130
First zero is of X, the second is Y, and the third one is of Z.

59
00:04:10,140 --> 00:04:14,460
So we have access to be VI or very Z.

60
00:04:15,150 --> 00:04:16,530
Now let's come to the point.

61
00:04:16,530 --> 00:04:20,520
It is not going to be applied right now because we have not closed it and not.

62
00:04:21,730 --> 00:04:26,350
Collagen building and the better meat that is currently better meet your server is currently containing

63
00:04:26,350 --> 00:04:29,280
this robot structure costed.

64
00:04:30,010 --> 00:04:30,880
Let's take a look.

65
00:04:31,450 --> 00:04:32,490
Okay.

66
00:04:32,500 --> 00:04:37,620
It is also rotating on the wrong axis.

67
00:04:37,990 --> 00:04:39,920
It is rotating on the Y axis.

68
00:04:39,940 --> 00:04:40,840
Let's take a look.

69
00:04:42,010 --> 00:04:43,900
It is rotating on the Y axis.

70
00:04:44,810 --> 00:04:54,740
But we wanted to be rotating along z-axis this blue line, so let's change it to be rotation along z-axis.

71
00:04:55,430 --> 00:04:58,790
I think we have changed a lot of things.

72
00:04:59,780 --> 00:05:06,050
Let's close them and we need to perform one more important point, which is.

73
00:05:06,990 --> 00:05:09,390
Change the location of.

74
00:05:11,020 --> 00:05:11,380
Right.

75
00:05:11,380 --> 00:05:13,060
And we were right then left.

76
00:05:13,130 --> 00:05:14,920
We joined Civic.

77
00:05:16,170 --> 00:05:20,640
And for phone call can be then again launch the launch by.

78
00:05:20,640 --> 00:05:21,660
Let's take a look now.

79
00:05:22,920 --> 00:05:23,620
Whoa.

80
00:05:23,640 --> 00:05:25,410
We have not saved the ATF.

81
00:05:25,830 --> 00:05:32,530
That's why it is not appearing on the start of Let's now save it control.

82
00:05:33,510 --> 00:05:34,320
Let's take a look.

83
00:05:34,590 --> 00:05:37,590
So I have changed the location of this as well.

84
00:05:37,620 --> 00:05:42,930
Now the right is on the correct right location.

85
00:05:43,320 --> 00:05:46,050
Now, Will Wright was rotating fine previous.

86
00:05:46,050 --> 00:05:53,250
Let's take a look on the left and it is now rotating according to our requirement that it should be

87
00:05:53,250 --> 00:05:55,090
rotating Gloucester village.

88
00:05:55,110 --> 00:05:55,710
Take a look.

89
00:05:56,220 --> 00:06:01,380
And now it is rotating appropriately to the point where it should have been rotating.

90
00:06:01,800 --> 00:06:04,380
So all of our joint are now set.

91
00:06:04,710 --> 00:06:09,900
Our car is ready to be driven in a real world simulation model is ready.

92
00:06:10,380 --> 00:06:15,930
But there are certain properties issues that will come up, like these properties of resizing that still

93
00:06:15,930 --> 00:06:17,580
meshes in the next section.

94
00:06:17,820 --> 00:06:20,640
Let's move to that gazebo in relation.