From 2a3d7de8e50426b831d7bf9c5696f213ad403350 Mon Sep 17 00:00:00 2001
From: Hilario Tome <hilario.tome@pal-robotics.com>
Date: Mon, 10 Oct 2016 18:24:27 +0200
Subject: [PATCH] Clean up
---
talos_description/gazebo/gazebo.urdf.xacro | 7 ++++
.../robots/talos_full_no_grippers.urdf.xacro | 41 +++++++++++++++++++
talos_description/robots/upload_full.launch | 6 ---
talos_description/robots/upload_talos.launch | 4 +-
4 files changed, 51 insertions(+), 7 deletions(-)
create mode 100644 talos_description/robots/talos_full_no_grippers.urdf.xacro
delete mode 100644 talos_description/robots/upload_full.launch
diff --git a/talos_description/gazebo/gazebo.urdf.xacro b/talos_description/gazebo/gazebo.urdf.xacro
index 72d8667..04816bb 100644
--- a/talos_description/gazebo/gazebo.urdf.xacro
+++ b/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
diff --git a/talos_description/robots/talos_full_no_grippers.urdf.xacro b/talos_description/robots/talos_full_no_grippers.urdf.xacro
new file mode 100644
index 0000000..9cfdb29
--- /dev/null
+++ b/talos_description/robots/talos_full_no_grippers.urdf.xacro
@@ -0,0 +1,41 @@
+<?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>
diff --git a/talos_description/robots/upload_full.launch b/talos_description/robots/upload_full.launch
deleted file mode 100644
index 294e4b9..0000000
--- a/talos_description/robots/upload_full.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_full.urdf.xacro'" />
-
-</launch>
diff --git a/talos_description/robots/upload_talos.launch b/talos_description/robots/upload_talos.launch
index 99f7ba8..9778b40 100644
--- a/talos_description/robots/upload_talos.launch
+++ b/talos_description/robots/upload_talos.launch
@@ -1,6 +1,8 @@
<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>
--
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