From 4698aa3c4de9328d209c30877d1682aa254843a5 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Tue, 29 Oct 2019 14:40:35 +0100
Subject: [PATCH] Hector description: added files and loader

---
 .gitignore                                    |   1 +
 CMakeLists.txt                                |   1 +
 .../quadrotor/blender/quadrotor_base.blend    | Bin 0 -> 385148 bytes
 .../meshes/quadrotor/quadrotor_base.dae       | 235 ++++++++++++++++++
 .../meshes/quadrotor/quadrotor_base.stl       | Bin 0 -> 27084 bytes
 hector_description/package.xml                |  25 ++
 hector_description/robots/quadrotor_base.urdf |  26 ++
 .../robots/quadrotor_base.urdf.xacro          |  32 +++
 .../robots/quadrotor_base.xacro               |   5 +
 python/example_robot_data/__init__.py         |   2 +-
 python/example_robot_data/robots_loader.py    |   9 +
 11 files changed, 335 insertions(+), 1 deletion(-)
 create mode 100644 hector_description/meshes/quadrotor/blender/quadrotor_base.blend
 create mode 100644 hector_description/meshes/quadrotor/quadrotor_base.dae
 create mode 100644 hector_description/meshes/quadrotor/quadrotor_base.stl
 create mode 100644 hector_description/package.xml
 create mode 100644 hector_description/robots/quadrotor_base.urdf
 create mode 100644 hector_description/robots/quadrotor_base.urdf.xacro
 create mode 100644 hector_description/robots/quadrotor_base.xacro

diff --git a/.gitignore b/.gitignore
index 19e93cc..f65793b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 *.pyc
 *.pyd
 *.pyo
+/build
diff --git a/CMakeLists.txt b/CMakeLists.txt
index eadc906..b4a94ef 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,6 +45,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 SETUP_PROJECT_FINALIZE()
diff --git a/hector_description/meshes/quadrotor/blender/quadrotor_base.blend b/hector_description/meshes/quadrotor/blender/quadrotor_base.blend
new file mode 100644
index 0000000000000000000000000000000000000000..af035a60e89bbae923a7f634307459307b5954f2
GIT binary patch
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diff --git a/hector_description/meshes/quadrotor/quadrotor_base.dae b/hector_description/meshes/quadrotor/quadrotor_base.dae
new file mode 100644
index 0000000..ab62cd7
--- /dev/null
+++ b/hector_description/meshes/quadrotor/quadrotor_base.dae
@@ -0,0 +1,235 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Stefan Kohlbrecher</author>
+      <authoring_tool>Blender 2.61.4 r43829</authoring_tool>
+    </contributor>
+    <created>2012-02-03T14:20:49</created>
+    <modified>2012-02-03T14:20:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="BodyDark_001-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 0 0.0106101 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="RotorGrey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.15 0.15 0.15 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.2 0.2 0.2 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.48 0.48 0.48 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">33</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="BodyDark-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.1 0.1 0.1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.05496641 0.05496641 0.05496641 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+    <effect id="RotorGrey2-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0.15 0.15 0.15 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.23 0.23 0.23 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.5 0.5 0.5 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">1 1 1 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">20</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>1</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+      <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="BodyDark_001-material" name="BodyDark.001">
+      <instance_effect url="#BodyDark_001-effect"/>
+    </material>
+    <material id="RotorGrey-material" name="RotorGrey">
+      <instance_effect url="#RotorGrey-effect"/>
+    </material>
+    <material id="BodyDark-material" name="BodyDark">
+      <instance_effect url="#BodyDark-effect"/>
+    </material>
+    <material id="RotorGrey2-material" name="RotorGrey2">
+      <instance_effect url="#RotorGrey2-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_002-mesh">
+      <mesh>
+        <source id="Cube_002-mesh-positions">
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+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/hector_description/meshes/quadrotor/quadrotor_base.stl b/hector_description/meshes/quadrotor/quadrotor_base.stl
new file mode 100644
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diff --git a/hector_description/package.xml b/hector_description/package.xml
new file mode 100644
index 0000000..c3e725a
--- /dev/null
+++ b/hector_description/package.xml
@@ -0,0 +1,25 @@
+<package>
+  <name>hector-description</name>
+  <version>0.3.5</version>
+  <description>hector-description provides an URDF model of a quadrotor UAV.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_description</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_sensors_description</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>
diff --git a/hector_description/robots/quadrotor_base.urdf b/hector_description/robots/quadrotor_base.urdf
new file mode 100644
index 0000000..1d4b3fc
--- /dev/null
+++ b/hector_description/robots/quadrotor_base.urdf
@@ -0,0 +1,26 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from quadrotor_base.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="base_link">
+    <inertial>
+      <mass value="1.477"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
diff --git a/hector_description/robots/quadrotor_base.urdf.xacro b/hector_description/robots/quadrotor_base.urdf.xacro
new file mode 100644
index 0000000..d261018
--- /dev/null
+++ b/hector_description/robots/quadrotor_base.urdf.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="pi" value="3.1415926535897931" />
+
+  <!-- Main quadrotor link -->
+  <xacro:macro name="quadrotor_base_macro">
+    <link name="base_link">
+      <inertial>
+        <mass value="1.477" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.dae"/>
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+  </xacro:macro>
+</robot>
diff --git a/hector_description/robots/quadrotor_base.xacro b/hector_description/robots/quadrotor_base.xacro
new file mode 100644
index 0000000..4f15fe2
--- /dev/null
+++ b/hector_description/robots/quadrotor_base.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="package://hector-description/urdf/quadrotor_base.urdf.xacro"/>
+  <xacro:quadrotor_base_macro/>
+</robot>
diff --git a/python/example_robot_data/__init__.py b/python/example_robot_data/__init__.py
index 3f08246..43e7bfd 100644
--- a/python/example_robot_data/__init__.py
+++ b/python/example_robot_data/__init__.py
@@ -1,3 +1,3 @@
 # flake8: noqa
 from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
-                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, readParamsFromSrdf)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 506ef54..f0f0d6e 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -225,5 +225,14 @@ def loadICub(reduced=True):
 def loadUR(robot=5, limited=False):
     URDF_FILENAME = 'ur%i%s_robot.urdf' % (robot, '_joint_limited' if limited else '')
     URDF_SUBPATH = '/ur_description/urdf/' + URDF_FILENAME
+    print URDF_SUBPATH
     modelPath = getModelPath(URDF_SUBPATH)
     return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+
+
+def loadHector():
+    URDF_FILENAME = "quadrotor_base.urdf"
+    URDF_SUBPATH = "/hector_description/robots/" + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+    return robot
-- 
GitLab