Clean up

talos_description/gazebo/gazebo.urdf.xacro

@@ -17,6 +17,13 @@
     </plugin>
   </gazebo>
 
+  <gazebo>
+    <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
+      <bodyName>base_link</bodyName>
+      <topicName>wrench</topicName>
+    </plugin>
+  </gazebo>
+  
 
   <gazebo reference="imu_link">
     <!-- this is expected to be reparented to pelvis with appropriate offset

talos_description/robots/talos_full_no_grippers.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/leg/leg_v2.urdf.xacro" />
+
+  <xacro:talos_torso name="torso" />
+
+  <xacro:talos_head name="head" parent="torso_2_link"/>
+
+  <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+  <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+  <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1"  />
+  <xacro:ft_sensor name="wrist" parent="arm_left_7_link"  side="left"  reflect="-1" />
+
+  <xacro:talos_leg prefix="left"  reflect="1" />
+  <xacro:talos_leg prefix="right" reflect="-1" />
+
+  <!-- Generic simulatalos_gazebo plugins -->
+  <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+  <!-- Materials for visualization -->
+  <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>

talos_description/robots/upload_full.launch

-<launch>
-
-  <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_full.urdf.xacro'" />
-
-</launch>

talos_description/robots/upload_talos.launch

 <launch>
 
+  <arg name="robot" default="full"/>
+  
   <!-- Robot description -->
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_torso.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'" />
 
 </launch>