diff --git a/.gitignore b/.gitignore
index 86a9ce719847ea976118f33959da70ec865fbfee..f6faf7759641f54e0769c57efe28a9e48dc40aec 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
+_build*
*.user
*~
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..60c916416ec2ca44d7ff835e959cc9d22ccb394c
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "cmake"]
+ path = cmake
+ url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f5098201b70f9e109854a0b2588c5d1c1a8e0b74..fe3b6f61261c01792007ca975b4a723a7e182a1f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,17 +1,20 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(talos_description)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
+INCLUDE(cmake/base.cmake)
+#include(cmake/ros.cmake)
-find_package(catkin REQUIRED)
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES talos_description
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
+SET(PROJECT_NAME talos-data)
+SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
+SET(PROJECT_URL "https://redmine.laas.fr/projects/pyrene-talos/repository/talos-data")
-foreach(dir config gazebo meshes robots urdf srdf)
- install(DIRECTORY ${dir}/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+SETUP_PROJECT()
+# Find xml_reflection
+ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.9")
+
+FOREACH(dir config gazebo meshes robots urdf srdf)
+ INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/${dir}
+ DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${dir})
+ENDFOREACH(dir)
+
+SETUP_PROJECT_FINALIZE()
\ No newline at end of file
diff --git a/cmake b/cmake
new file mode 160000
index 0000000000000000000000000000000000000000..54177e44a1440222184865f1449c40b708eeaaa4
--- /dev/null
+++ b/cmake
@@ -0,0 +1 @@
+Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 752f497f9ec8140aea0b076e4d44d88154537a70..0000000000000000000000000000000000000000
--- a/package.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<package>
- <name>talos_description</name>
- <version>0.0.13</version>
- <description>The talos_description package</description>
-
- <maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
-
- <license>Proprietary</license>
-
- <buildtool_depend>catkin</buildtool_depend>
-
- <export>
- </export>
-
-</package>
diff --git a/robots/talos_small.urdf b/robots/talos_small.urdf
index 8f5eefaae2ac0c95a541254caf175963b8c7116b..e1e52213822070781ce82bae9d6688030131c922 100644
--- a/robots/talos_small.urdf
+++ b/robots/talos_small.urdf
@@ -289,6 +289,7 @@
<!-- inertia tensor computed analytically for a solid cuboid -->
<inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
</inertial>
+ <!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@@ -298,6 +299,7 @@
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
+ -->
<collision>
<origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
<geometry>
@@ -454,7 +456,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -487,7 +489,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -520,7 +522,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -556,7 +558,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -627,7 +629,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -660,7 +662,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -838,7 +840,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -871,7 +873,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -904,7 +906,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -940,7 +942,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -1011,7 +1013,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -1044,7 +1046,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
@@ -1085,7 +1087,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>