diff --git a/talos_description/gazebo/gazebo.urdf.xacro b/talos_description/gazebo/gazebo.urdf.xacro
index 79b80b7e1ea52b8ae46f5d5ed67841345507532b..916a7dc2b37c47e293baa7115ec0d41d4270547b 100644
--- a/talos_description/gazebo/gazebo.urdf.xacro
+++ b/talos_description/gazebo/gazebo.urdf.xacro
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
-<robot name="starleth">
+<robot name="talos">
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<ns></ns>
@@ -12,7 +12,7 @@
<gazebo>
<plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>talos_2_link</frameName>
+ <frameName>torso_2_link</frameName>
<topicName>floating_base_pose</topicName>
</plugin>
</gazebo>
@@ -82,7 +82,7 @@
</gazebo>
<!-- define global properties -->
- <property name="M_PI" value="3.1415926535897931" />
+ <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
</robot>
diff --git a/talos_description/meshes/torso/base_link.STL b/talos_description/meshes/torso/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..38e248ce7a00679aca49d0be7a869e30ad9ca807
Binary files /dev/null and b/talos_description/meshes/torso/base_link.STL differ
diff --git a/talos_description/meshes/torso/base_link_collision.STL b/talos_description/meshes/torso/base_link_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..c5004ceb7ee8e7afcf9678941a3cba7c03655d04
Binary files /dev/null and b/talos_description/meshes/torso/base_link_collision.STL differ
diff --git a/talos_description/meshes/torso/torso_2.STL b/talos_description/meshes/torso/torso_2.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ec8b51a60f800c301f26da8e721f49aa4f271205
Binary files /dev/null and b/talos_description/meshes/torso/torso_2.STL differ
diff --git a/talos_description/meshes/torso/torso_2_collision.STL b/talos_description/meshes/torso/torso_2_collision.STL
new file mode 100644
index 0000000000000000000000000000000000000000..44f199081dfd9cd7665254f49723e43571726639
Binary files /dev/null and b/talos_description/meshes/torso/torso_2_collision.STL differ
diff --git a/talos_description/meshes/torso/toso_1.STL b/talos_description/meshes/torso/toso_1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f7418ca280b5a368c02ebf15c71d034eb475d44f
Binary files /dev/null and b/talos_description/meshes/torso/toso_1.STL differ
diff --git a/talos_description/robots/talos_full.urdf.xacro b/talos_description/robots/talos_full.urdf.xacro
index c85595c8fe8466d5fb998b40119ddd9e8663f245..633285900d459c0f5998a59c425a3015348272c7 100644
--- a/talos_description/robots/talos_full.urdf.xacro
+++ b/talos_description/robots/talos_full.urdf.xacro
@@ -20,7 +20,7 @@
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
- <xacro:talos_talos name="talos" />
+ <xacro:talos_torso name="torso" />
<xacro:talos_head name="head" parent="torso_2_link"/>
diff --git a/talos_description/robots/talos_torso.urdf.xacro b/talos_description/robots/talos_torso.urdf.xacro
index e6df79b08064215288f5686d8032034573afd38a..05a70cce3f4c69b493965e4de84e11acac4692cd 100644
--- a/talos_description/robots/talos_torso.urdf.xacro
+++ b/talos_description/robots/talos_torso.urdf.xacro
@@ -13,9 +13,9 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_description)/urdf/talos/talos.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
- <xacro:talos_talos name="talos" />
+ <xacro:talos_torso name="torso" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
diff --git a/talos_description/robots/upload_talos.launch b/talos_description/robots/upload_talos.launch
index 0bda81247edd6bc4a909bef0e17a5dfa486e4a65..99f7ba8307f7456fb255bcc8608f0fbdd672efb2 100644
--- a/talos_description/robots/upload_talos.launch
+++ b/talos_description/robots/upload_talos.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_talos.urdf.xacro'" />
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_torso.urdf.xacro'" />
</launch>
diff --git a/talos_description/urdf/deg_to_rad.xacro b/talos_description/urdf/deg_to_rad.xacro
index a662ea2ac383747232abbddd6ec6948c65b816c6..2f35e1cca1164f049ff3c02e3ee9749caef2a07b 100644
--- a/talos_description/urdf/deg_to_rad.xacro
+++ b/talos_description/urdf/deg_to_rad.xacro
@@ -1,5 +1,5 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <property name="deg_to_rad" value="0.01745329251994329577" />
+ <xacro:property name="deg_to_rad" value="0.01745329251994329577" />
</robot>
diff --git a/talos_description/urdf/sensors/back_camera.urdf.xacro b/talos_description/urdf/sensors/back_camera.urdf.xacro
index 39b7656beaff0e07a141d3cfdeb54af4591f4fbc..c540ca4fa1a4dade36d07d63ceccb285850f725e 100644
--- a/talos_description/urdf/sensors/back_camera.urdf.xacro
+++ b/talos_description/urdf/sensors/back_camera.urdf.xacro
@@ -18,7 +18,7 @@
<xacro:macro name="reemc_back_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
<joint name="${name}_frame_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
diff --git a/talos_description/urdf/sensors/calibration.xacro b/talos_description/urdf/sensors/calibration.xacro
index 884ff295a45aa897829603c22cac7fe0c0f66169..55f7e73a93f2e06e2d6f4ee6db8e98aa1ceea80e 100644
--- a/talos_description/urdf/sensors/calibration.xacro
+++ b/talos_description/urdf/sensors/calibration.xacro
@@ -13,18 +13,18 @@
-->
<robot>
- <property name="M_PI" value="3.1415926535897931" />
+ <xacro:property name="M_PI" value="3.1415926535897931" />
<!-- Head-mounted ASUS Xtion Pro Live -->
<!-- These calibration values affect 2 frames:
(name)_xtion_ir_optical_frame
(name)_xtion_rgb_optical_frame -->
- <property name="cal_head_mount_xtion_x" value="0.0" />
- <property name="cal_head_mount_xtion_y" value="0.0" />
- <property name="cal_head_mount_xtion_z" value="0.0" />
- <property name="cal_head_mount_xtion_roll" value="0.0" />
- <property name="cal_head_mount_xtion_pitch" value="0.0" />
- <property name="cal_head_mount_xtion_yaw" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_x" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_y" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_z" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_roll" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_pitch" value="0.0" />
+ <xacro:property name="cal_head_mount_xtion_yaw" value="0.0" />
</robot>
diff --git a/talos_description/urdf/sensors/imu.urdf.xacro b/talos_description/urdf/sensors/imu.urdf.xacro
index 05bd32c9e994302559ea7f39cdbc9c32e8be0c40..e88fe1b5cea31a32e672afcfbcfcd9e21d02c808 100644
--- a/talos_description/urdf/sensors/imu.urdf.xacro
+++ b/talos_description/urdf/sensors/imu.urdf.xacro
@@ -24,7 +24,7 @@
</visual>
</link>
<joint name="imu_joint" type="fixed">
- <insert_block name="origin"/>
+ <xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
diff --git a/talos_description/urdf/sensors/laser.urdf.xacro b/talos_description/urdf/sensors/laser.urdf.xacro
index 67b639e4bbecf89e9b5dc3bce27ee5afde16c0c0..121e66a8f59c5bd554e6e22aa080b2cd3c6d2515 100644
--- a/talos_description/urdf/sensors/laser.urdf.xacro
+++ b/talos_description/urdf/sensors/laser.urdf.xacro
@@ -32,7 +32,7 @@
<joint name="${name}_joint" type="fixed">
<axis xyz="0 1 0" />
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
<dynamics friction="1.0" damping="1"/>
diff --git a/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro b/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
index f9b1042695a7a3f94179e9c8a77cfdfdf10cf0cb..d48d3e3e3a79102b369e8938832bb0fe3a2acdb0 100644
--- a/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
+++ b/talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
@@ -14,7 +14,7 @@
<xacro:macro name="mvbluefox_camera" params="name parent *origin">
<joint name="${name}_frame_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
diff --git a/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro b/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
index 81a7f457ac0d4b8fbb02ace500435f1638128950..f86315999ecb2490bfadbce5372866129348d2b7 100644
--- a/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
+++ b/talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
@@ -31,7 +31,7 @@
<!-- frames in the center of the camera -->
<joint name="${name}_joint" type="fixed">
- <insert_block name="origin"/>
+ <xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
<parent link="${parent}_link"/>
@@ -65,7 +65,7 @@
</link>
<joint name="${name}_optical_joint" type="fixed">
- <insert_block name="optical_origin" />
+ <xacro:insert_block name="optical_origin" />
<parent link="${name}_link"/>
<child link="${name}_optical_frame"/>
</joint>
diff --git a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
index 8134fa6e590abd087e14b6be1d12d8e7eae8a71a..d46075ff0b4b8deb3a86d9279a165ba2b62cd95a 100644
--- a/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
+++ b/talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
@@ -13,7 +13,7 @@
<xacro:macro name="prosilicaGC655C_camera" params="name parent *origin">
<joint name="${name}_frame_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
diff --git a/talos_description/urdf/sensors/range.urdf.xacro b/talos_description/urdf/sensors/range.urdf.xacro
index c9177fc4b41f1f9c52c6402696754efcc1e38d92..52bdd86165f835de59177f932f45506b37c251e5 100644
--- a/talos_description/urdf/sensors/range.urdf.xacro
+++ b/talos_description/urdf/sensors/range.urdf.xacro
@@ -24,7 +24,7 @@
</link>
<joint name="${name}_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<axis xyz="0 0 1"/>
<parent link="${parent}_link"/>
<child link="${name}_link"/>
diff --git a/talos_description/urdf/sensors/stereo_camera.urdf.xacro b/talos_description/urdf/sensors/stereo_camera.urdf.xacro
index bfbb3efd9085090ce711e7e6d5b5d3e61f5614c7..9f5f741d757c98fd8e90fbc0475c0968dc1396cb 100644
--- a/talos_description/urdf/sensors/stereo_camera.urdf.xacro
+++ b/talos_description/urdf/sensors/stereo_camera.urdf.xacro
@@ -13,18 +13,18 @@
<xacro:include filename="$(find reemc_description)/urdf/sensors/prosilica_stereo_camera.gazebo.xacro" />
<xacro:include filename="$(find reemc_description)/urdf/sensors/prosilicaGC655C_camera.urdf.xacro" />
- <property name="stereo_dx" value="0.00" />
- <property name="stereo_dy" value="-0.073" /> <!-- stereo baseline according to base_link which has X pointing forward, Y leftwards and Z upwards (required by Gazebo for a camera sensor) -->
- <property name="stereo_dz" value="0.00" />
- <property name="stereo_rx" value="0.00" />
- <property name="stereo_ry" value="0.00" />
- <property name="stereo_rz" value="0.00" />
+ <xacro:property name="stereo_dx" value="0.00" />
+ <xacro:property name="stereo_dy" value="-0.073" /> <!-- stereo baseline according to base_link which has X pointing forward, Y leftwards and Z upwards (required by Gazebo for a camera sensor) -->
+ <xacro:property name="stereo_dz" value="0.00" />
+ <xacro:property name="stereo_rx" value="0.00" />
+ <xacro:property name="stereo_ry" value="0.00" />
+ <xacro:property name="stereo_rz" value="0.00" />
<!-- this macro is used for creating wide and narrow double stereo camera links -->
<xacro:macro name="reemc_stereo_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
<joint name="${name}_frame_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
diff --git a/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro b/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
index 1ac27d4130dc7064d3f48cec0ef71fa43955fd20..cb6464d5bea2fa9e2ba762ad06f6f550c7714ba4 100644
--- a/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
+++ b/talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
@@ -27,13 +27,13 @@
<xacro:include filename="$(find reemc)/urdf/sensors/calibration.xacro" />
<xacro:include filename="$(find reemc)/urdf/sensors/openni.gazebo.xacro" />
- <property name="M_PI" value="3.1415926535897931" />
+ <xacro:property name="M_PI" value="3.1415926535897931" />
<!-- Macro -->
<xacro:macro name="xtion_pro_live" params="name parent *origin *calibration_origin">
<!-- base link -->
<joint name="${name}_joint" type="fixed">
- <insert_block name="origin" />
+ <xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
@@ -82,7 +82,7 @@
</link>
<!-- Xtion IR sensor frame -->
<joint name="${name}_ir_optical_frame_joint" type="fixed">
- <insert_block name="calibration_origin" /> <!-- macro argument -->
+ <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_ir_link"/>
<child link="${name}_ir_optical_frame"/>
</joint>
@@ -117,7 +117,7 @@
</link>
<!-- Xtion RGB sensor frame -->
<joint name="${name}_rgb_optical_frame_joint" type="fixed">
- <insert_block name="calibration_origin" /> <!-- macro argument -->
+ <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_rgb_link"/>
<child link="${name}_rgb_optical_frame"/>
</joint>
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
index 3fd7239920322206e6285854b72364aea046fce1..b2eeacc86f2412b486948b9f29cb3ef99e299758 100644
--- a/talos_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -127,7 +127,7 @@
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
- effort="${talos_max_effort}" velocity="${torso_max_vel}" />
+ effort="${torso_max_effort}" velocity="${torso_max_vel}" />
<dynamics friction="1.0" damping="1.0"/>
<!-- <safety_controller k_position="20"