Commit f9c9ab0a authored by Paul Bovbel's avatar Paul Bovbel
Browse files

Merge husky_description

parents 07521de8 b7e01c85
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Changelog for package husky_description
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.1.2 (2015-01-30)
------------------
* Update maintainers and description
* Get rid of chassis_link, switch to base_footprint and base_link
* Switch to NED orientation for UM6 standard package
* Contributors: Paul Bovbel
0.1.1 (2015-01-14)
------------------
* Remove multirobot changes, experiment later
* Contributors: Paul Bovbel
0.1.0 (2015-01-13)
------------------
* Major refactor for indigo release:
* base_link is now located on the ground plane, while chassis_link
* refactored joint names for consistency with Jackal and Grizzly for ros_control
* moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
* initial prefixing for multirobot
* Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
0.0.2 (2013-09-30)
------------------
* Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
* Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
0.0.1 (2013-09-11)
------------------
* Move to model-only launchfile.
* Catkinize package, add install targets.
* husky_description moved up to repository root.
cmake_minimum_required(VERSION 2.8.3)
project(husky_description)
find_package(catkin REQUIRED COMPONENTS roslaunch)
catkin_package()
roslaunch_add_file_check(launch)
install(
DIRECTORY launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
husky_description
=================
Husky URDF description.
Viewer launchfile is in husky_viz package: `roslaunch husky_viz view_model.launch`
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="laser_enabled" default="false"/>
<arg name="ur5_enabled" default="false"/>
<arg name="kinect_enabled" default="false"/>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find husky_description)/urdf/description.xacro'
laser_enabled:=$(arg laser_enabled)
ur5_enabled:=$(arg ur5_enabled)
kinect_enabled:=$(arg kinect_enabled)
" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>
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<?xml version="1.0"?>
<package>
<name>husky_description</name>
<version>0.1.2</version>
<description>Clearpath Husky URDF description</description>
<author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
<author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
<author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
<author email="pbovbel@clearpathrobotics.com">Paul Bovbel</author>
<author email="dash@clearpathrobotics.com">Devon Ash</author>
<maintainer email="pbovbel@clearpathrobotics.com">Paul Bovbel</maintainer>
<url type="website">http://ros.org/wiki/husky_description</url>
<url type="bugtracker">https://github.com/husky/husky_description/issues</url>
<url type="repository">https://github.com/husky/husky_description</url>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>urdf</run_depend>
<run_depend>xacro</run_depend>
<run_depend>ur_description</run_depend>
<export>
</export>
</package>
<?xml version="1.0"?>
<!--
Copyright (c) 2013, Goncalo Cabrita, ISR University of Coimbra
Copyright (c) 2014, Clearpath Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="kinect_camera">
<xacro:macro name="kinect_camera" params="prefix:=camera">
<!-- Create kinect reference frame -->
<!-- Add mesh for kinect -->
<link name="${prefix}_link">
<origin xyz="0 0 0" rpy="0 0 0"/>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/>
<geometry>
<mesh filename="package://husky_description/meshes/accessories/kinect.dae" />
</geometry>
</visual>
<collision>
<geometry>
<box size="0.07 0.3 0.09"/>
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="510_mm_sensor_arch">
<xacro:macro name="sensor_arch" params="prefix parent size:=510 *origin">
<!-- Spawn the sensor arch link -->
<link name="${prefix}sensor_arch_mount_link">
<origin xyz="0 0 0" rpy="0 0 0"/>
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/accessories/${size}_mm_sensor_arch.STL" />
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/accessories/${size}_mm_sensor_arch.STL" />
</geometry>
</collision>
</link>
<gazebo reference="${prefix}sensor_arch_mount_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<!-- Attach the sensor arch to the top plate -->
<joint name="${prefix}sensor_arch_mount" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${prefix}sensor_arch_mount_link"/>
</joint>
</xacro:macro>
</robot>
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