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Some cleanups

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This commit is contained in:
Oleg Kalachev 2023-11-11 06:15:20 +03:00
parent 8dad0a0918
commit 70eae3e556
3 changed files with 32 additions and 33 deletions
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5
Makefile
View File

@ -1,4 +1,3 @@
SRC := $(wildcard flix/*.ino flix/*.cpp flix/*.hpp)
BOARD = esp32:esp32:d1_mini32
PORT := $(wildcard /dev/serial/by-id/usb-Silicon_Labs_CP2104_USB_to_UART_Bridge_Controller_* /dev/serial/by-id/usb-1a86_USB_Single_Serial_* /dev/cu.usbserial-*)
PORT := $(strip $(PORT))
@ -31,10 +30,10 @@ simulator: build_simulator
GAZEBO_PLUGIN_PATH=$$GAZEBO_PLUGIN_PATH:${CURDIR}/gazebo/build \
gazebo --verbose ${CURDIR}/gazebo/flix.world
grab_log:
log:
PORT=$(PORT) tools/grab_log.py
clean:
rm -rf gazebo/build flix/build flix/cache .dependencies
.PHONY: build upload monitor dependencies cmake build_simulator simulator grab_log clean
.PHONY: build upload monitor dependencies cmake build_simulator simulator log clean

2
flix/vector.h
View File

@ -32,7 +32,7 @@ public:
z /= n;
}
Vector operator * (float b)
Vector operator * (const float b) const
{
return Vector(x * b, y * b, z * b);
}

58
gazebo/models/floor/floor.sdf
View File

@ -1,31 +1,31 @@
<?xml version="1.0" ?>
<?xml version="1.0"?>
<sdf version="1.5">
<model name="floor">
<static>true</static>
<link name="link">
<pose>0 0 -0.02 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
<material>
<script>
<uri>model://floor/materials/scripts</uri>
<uri>model://floor/materials/textures</uri>
<name>parquet</name>
</script>
</material>
</visual>
</link>
</model>
<model name="floor">
<static>true</static>
<link name="link">
<pose>0 0 -0.02 0 0 0</pose>
<collision name="collision">
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
</collision>
<visual name="visual">
<cast_shadows>false</cast_shadows>
<geometry>
<box>
<size>200 200 .02</size>
</box>
</geometry>
<material>
<script>
<uri>model://floor/materials/scripts</uri>
<uri>model://floor/materials/textures</uri>
<name>parquet</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>