Merge pull request #7 from OSUrobotics/L-fp

L fp

Author: lukestroh

README.md

@@ -16,10 +16,23 @@ apt update -y && apt upgrade -y
 apt install python3-venv -y
 apt install ros-$ROS_DISTRO-ur -y
 cd ~
+source /opt/ros/humble/setup.bash
 ```
 
 
+#### Installing dependencies
+1. Install support packages for the pruning environment.
+```
+cd ~
+git clone https://github.com/lukestroh/branch_detection_ws.git
+cd branch_detection_ws
+colcon build --symlink-install
+source install/setup.bash
+cd ~
+```
+
 #### Installing this package
+
 1. Clone this repository into your local directory:
 ```
 git clone https://github.com/OSUrobotics/pybullet-tree-sim.git

pybullet_tree_sim/urdf/trees/envy/macro/tree_macro.urdf.xacro

@@ -12,18 +12,18 @@
         <xacro:property name="mass" value="8.0" />
         <xacro:property name="scale" value="1 1 1"/>
 
-        <link name="${namespace}${tree_type}_tree${tree_id}">
+        <link name="${namespace}_${tree_type}_${str(tree_id).zfill(5)}">
             <visual>
                 <geometry>
-                    <mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}${tree_type}_tree${tree_id}.obj" scale="${scale}"/>
+                    <mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}_${tree_type}_${str(tree_id).zfill(5)}.obj" scale="${scale}"/>
                 </geometry>
                 <material name="LightGrey">
                     <color rgba="0.7 0.7 0.7 1.0"/>
                 </material>
             </visual>
             <collision concave="true">
                 <geometry>
-                    <mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}${tree_type}_tree${tree_id}.obj" scale="${scale}"/>
+                    <mesh filename="./meshes/trees/envy/unlabeled/obj/${namespace}_${tree_type}_${str(tree_id).zfill(5)}.obj" scale="${scale}"/>
                 </geometry>
             </collision>
                 <inertial>
@@ -33,9 +33,9 @@
             </inertial>
         </link>
         <link name="world"/>
-        <joint name="${namespace}${tree_type}_tree${tree_id}_joint" type="fixed">
+        <joint name="${namespace}_${tree_type}_${str(tree_id).zfill(5)}_joint" type="fixed">
             <parent link="${parent}"/>
-            <child link="${namespace}${tree_type}_tree${tree_id}"/>
+            <child link="${namespace}_${tree_type}_${str(tree_id).zfill(5)}"/>
             <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
         </joint>
 

pybullet_tree_sim/urdf/trees/envy/tree.urdf.xacro

@@ -9,6 +9,7 @@
     <xacro:arg name="parent" default="world" />
     <!-- <xacro:arg name="xyz" default="0.0 0.0 0.0"/>
     <xacro:arg name="rpy" default="0.0 0.0 0.0"/> -->
+    
 
     <xacro:tree
         namespace="$(arg namespace)"