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Commit 08cb8bca authored by Hilario Tome's avatar Hilario Tome
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Finished renaming

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talos_description/gazebo/gazebo.urdf.xacro
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− 3
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<?xml version="1.0"?> <?xml version="1.0"?>
<robot name="starleth"> <robot name="talos">
<gazebo> <gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control"> <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<ns></ns> <ns></ns>
...@@ -12,7 +12,7 @@ ...@@ -12,7 +12,7 @@
<gazebo> <gazebo>
<plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry"> <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> <topicName>floating_base_pose</topicName>
</plugin> </plugin>
</gazebo> </gazebo>
...@@ -82,7 +82,7 @@ ...@@ -82,7 +82,7 @@
</gazebo> </gazebo>
<!-- define global properties --> <!-- define global properties -->
<property name="M_PI" value="3.1415926535897931" /> <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
</robot> </robot>
talos_description/meshes/torso/base_link.STL 0 → 100644
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talos_description/meshes/torso/base_link_collision.STL 0 → 100644
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talos_description/meshes/torso/torso_2.STL 0 → 100644
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talos_description/meshes/torso/torso_2_collision.STL 0 → 100644
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talos_description/meshes/torso/toso_1.STL 0 → 100644
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talos_description/robots/talos_full.urdf.xacro
+ 1
− 1
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...@@ -20,7 +20,7 @@ ...@@ -20,7 +20,7 @@
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" /> <xacro:include filename="$(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"/> <xacro:talos_head name="head" parent="torso_2_link"/>
......
talos_description/robots/talos_torso.urdf.xacro
+ 2
− 2
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...@@ -13,9 +13,9 @@ ...@@ -13,9 +13,9 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> 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 --> <!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" /> <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
......
talos_description/robots/upload_talos.launch
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− 1
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<launch> <launch>
<!-- Robot description --> <!-- 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> </launch>
talos_description/urdf/deg_to_rad.xacro
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− 1
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<robot xmlns:xacro="http://ros.org/wiki/xacro"> <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> </robot>
talos_description/urdf/sensors/back_camera.urdf.xacro
+ 1
− 1
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...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
<xacro:macro name="reemc_back_camera" params="name parent focal_length hfov image_format image_width image_height *origin"> <xacro:macro name="reemc_back_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
<joint name="${name}_frame_joint" type="fixed"> <joint name="${name}_frame_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
......
talos_description/urdf/sensors/calibration.xacro
+ 7
− 7
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...@@ -13,18 +13,18 @@ ...@@ -13,18 +13,18 @@
--> -->
<robot> <robot>
<property name="M_PI" value="3.1415926535897931" /> <xacro:property name="M_PI" value="3.1415926535897931" />
<!-- Head-mounted ASUS Xtion Pro Live --> <!-- Head-mounted ASUS Xtion Pro Live -->
<!-- These calibration values affect 2 frames: <!-- These calibration values affect 2 frames:
(name)_xtion_ir_optical_frame (name)_xtion_ir_optical_frame
(name)_xtion_rgb_optical_frame --> (name)_xtion_rgb_optical_frame -->
<property name="cal_head_mount_xtion_x" value="0.0" /> <xacro:property name="cal_head_mount_xtion_x" value="0.0" />
<property name="cal_head_mount_xtion_y" value="0.0" /> <xacro:property name="cal_head_mount_xtion_y" value="0.0" />
<property name="cal_head_mount_xtion_z" value="0.0" /> <xacro:property name="cal_head_mount_xtion_z" value="0.0" />
<property name="cal_head_mount_xtion_roll" value="0.0" /> <xacro:property name="cal_head_mount_xtion_roll" value="0.0" />
<property name="cal_head_mount_xtion_pitch" value="0.0" /> <xacro: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_yaw" value="0.0" />
</robot> </robot>
......
talos_description/urdf/sensors/imu.urdf.xacro
+ 1
− 1
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...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
</visual> </visual>
</link> </link>
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<insert_block name="origin"/> <xacro:insert_block name="origin"/>
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
......
talos_description/urdf/sensors/laser.urdf.xacro
+ 1
− 1
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...@@ -32,7 +32,7 @@ ...@@ -32,7 +32,7 @@
<joint name="${name}_joint" type="fixed"> <joint name="${name}_joint" type="fixed">
<axis xyz="0 1 0" /> <axis xyz="0 1 0" />
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
<dynamics friction="1.0" damping="1"/> <dynamics friction="1.0" damping="1"/>
......
talos_description/urdf/sensors/mvbluefox_camera.urdf.xacro
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− 1
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...@@ -14,7 +14,7 @@ ...@@ -14,7 +14,7 @@
<xacro:macro name="mvbluefox_camera" params="name parent *origin"> <xacro:macro name="mvbluefox_camera" params="name parent *origin">
<joint name="${name}_frame_joint" type="fixed"> <joint name="${name}_frame_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
......
talos_description/urdf/sensors/orbbec_astra_pro.urdf.xacro
+ 2
− 2
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...@@ -31,7 +31,7 @@ ...@@ -31,7 +31,7 @@
<!-- frames in the center of the camera --> <!-- frames in the center of the camera -->
<joint name="${name}_joint" type="fixed"> <joint name="${name}_joint" type="fixed">
<insert_block name="origin"/> <xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> --> <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
<parent link="${parent}_link"/> <parent link="${parent}_link"/>
...@@ -65,7 +65,7 @@ ...@@ -65,7 +65,7 @@
</link> </link>
<joint name="${name}_optical_joint" type="fixed"> <joint name="${name}_optical_joint" type="fixed">
<insert_block name="optical_origin" /> <xacro:insert_block name="optical_origin" />
<parent link="${name}_link"/> <parent link="${name}_link"/>
<child link="${name}_optical_frame"/> <child link="${name}_optical_frame"/>
</joint> </joint>
......
talos_description/urdf/sensors/prosilicaGC655C_camera.urdf.xacro
+ 1
− 1
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...@@ -13,7 +13,7 @@ ...@@ -13,7 +13,7 @@
<xacro:macro name="prosilicaGC655C_camera" params="name parent *origin"> <xacro:macro name="prosilicaGC655C_camera" params="name parent *origin">
<joint name="${name}_frame_joint" type="fixed"> <joint name="${name}_frame_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
......
talos_description/urdf/sensors/range.urdf.xacro
+ 1
− 1
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...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
</link> </link>
<joint name="${name}_joint" type="fixed"> <joint name="${name}_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
<parent link="${parent}_link"/> <parent link="${parent}_link"/>
<child link="${name}_link"/> <child link="${name}_link"/>
......
talos_description/urdf/sensors/stereo_camera.urdf.xacro
+ 7
− 7
View file @ 08cb8bca
...@@ -13,18 +13,18 @@ ...@@ -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/prosilica_stereo_camera.gazebo.xacro" />
<xacro:include filename="$(find reemc_description)/urdf/sensors/prosilicaGC655C_camera.urdf.xacro" /> <xacro:include filename="$(find reemc_description)/urdf/sensors/prosilicaGC655C_camera.urdf.xacro" />
<property name="stereo_dx" value="0.00" /> <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) --> <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) -->
<property name="stereo_dz" value="0.00" /> <xacro:property name="stereo_dz" value="0.00" />
<property name="stereo_rx" value="0.00" /> <xacro:property name="stereo_rx" value="0.00" />
<property name="stereo_ry" value="0.00" /> <xacro:property name="stereo_ry" value="0.00" />
<property name="stereo_rz" value="0.00" /> <xacro:property name="stereo_rz" value="0.00" />
<!-- this macro is used for creating wide and narrow double stereo camera links --> <!-- 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"> <xacro:macro name="reemc_stereo_camera" params="name parent focal_length hfov image_format image_width image_height *origin">
<joint name="${name}_frame_joint" type="fixed"> <joint name="${name}_frame_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
......
talos_description/urdf/sensors/xtion_pro_live.urdf.xacro
+ 4
− 4
View file @ 08cb8bca
...@@ -27,13 +27,13 @@ ...@@ -27,13 +27,13 @@
<xacro:include filename="$(find reemc)/urdf/sensors/calibration.xacro" /> <xacro:include filename="$(find reemc)/urdf/sensors/calibration.xacro" />
<xacro:include filename="$(find reemc)/urdf/sensors/openni.gazebo.xacro" /> <xacro:include filename="$(find reemc)/urdf/sensors/openni.gazebo.xacro" />
<property name="M_PI" value="3.1415926535897931" /> <xacro:property name="M_PI" value="3.1415926535897931" />
<!-- Macro --> <!-- Macro -->
<xacro:macro name="xtion_pro_live" params="name parent *origin *calibration_origin"> <xacro:macro name="xtion_pro_live" params="name parent *origin *calibration_origin">
<!-- base link --> <!-- base link -->
<joint name="${name}_joint" type="fixed"> <joint name="${name}_joint" type="fixed">
<insert_block name="origin" /> <xacro:insert_block name="origin" />
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="${name}_link"/> <child link="${name}_link"/>
</joint> </joint>
...@@ -82,7 +82,7 @@ ...@@ -82,7 +82,7 @@
</link> </link>
<!-- Xtion IR sensor frame --> <!-- Xtion IR sensor frame -->
<joint name="${name}_ir_optical_frame_joint" type="fixed"> <joint name="${name}_ir_optical_frame_joint" type="fixed">
<insert_block name="calibration_origin" /> <!-- macro argument --> <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_ir_link"/> <parent link="${name}_ir_link"/>
<child link="${name}_ir_optical_frame"/> <child link="${name}_ir_optical_frame"/>
</joint> </joint>
...@@ -117,7 +117,7 @@ ...@@ -117,7 +117,7 @@
</link> </link>
<!-- Xtion RGB sensor frame --> <!-- Xtion RGB sensor frame -->
<joint name="${name}_rgb_optical_frame_joint" type="fixed"> <joint name="${name}_rgb_optical_frame_joint" type="fixed">
<insert_block name="calibration_origin" /> <!-- macro argument --> <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_rgb_link"/> <parent link="${name}_rgb_link"/>
<child link="${name}_rgb_optical_frame"/> <child link="${name}_rgb_optical_frame"/>
</joint> </joint>
......
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