Create docks other than 4x4 grid dock block

[osrf]

Create docks other than 4x4 grid dock block

[osrf-migration]

Original comment by Brian Bingham (Bitbucket: brian_bingham).

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• set assignee_account_id to "557058:4ded1ddf-947e-4154-bbd1-3dba24f1bdbd"
• set assignee to "caguero (Bitbucket: caguero, GitHub: caguero)"
• set milestone to "0.3"

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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We have individual, 2x2, 3x3 and 4x4 dock models. You can test them by inserting them directly into the simulation via the Gazebo GUI. Click on the Insert tab (left column), and then, dock_block, dock_block_2x2, dock_block_3x3, or dock_block_4x4.

As you mentioned, currently we do not support other block types in the dock generator and it's not in our short-term plan but it shouldn't be hard to add. Here's what I would do:

• Take a look at robotx_gazebo/models/dock_2016_base/model.sdf.erb . Here, we declare the layout variable with the shape of the dock. You could create a similar integer variable with the size of the dock block (e.g.: 1, 2, 3, 4).
• Open the file robotx_gazebo/dock_generator.erb and you'll see how the layout variable is used. You could use the variable declared in the previous step in this file to insert the appropriate dock block, as opposed to the hard-coded <uri>model://dock_block_4x4</uri> line.

You could the first external contributor to the project :)

[osrf-migration]

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

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• changed state from "new" to "wontfix"