gazebo/gazebo.urdf.xacro

@@ -23,7 +23,7 @@
       <topicName>wrench</topicName>
     </plugin>
   </gazebo>
-  
+
 
   <gazebo reference="imu_link">
     <!-- this is expected to be reparented to pelvis with appropriate offset
@@ -52,7 +52,7 @@
                the biases are fixed additive offsets.  We choose
                bias means and stddevs to produce biases close to the provided
                data. -->
-               
+
           <!--
           <rate>
             <mean>0.0</mean>
@@ -67,8 +67,8 @@
             <bias_stddev>0.001</bias_stddev>
           </accel>
           -->
-          
-          
+
+
           <rate>
             <mean>0.0</mean>
             <stddev>0.0</stddev>
@@ -81,8 +81,8 @@
             <bias_mean>0.0</bias_mean>
             <bias_stddev>0.000</bias_stddev>
           </accel>
-          
-          
+
+
         </noise>
       </imu>
     </sensor>
@@ -92,4 +92,3 @@
   <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
 
 </robot>
-

launch/talos_bringup.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <!-- Load default controllers -->
+  <include file="$(find talos_controller_configuration)/launch/bringup_controllers.launch" />
+
+  <!-- Robot state publisher -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="100.0" />
+    <param name="tf_prefix" type="string" value="" />
+  </node>
+
+</launch>

launch/talos_gazebo.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="start_half_sitting" default="true"/>
+  <arg name="world"  default="empty"/>  <!-- empty, small_office, ... (see ../worlds) -->
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
+  <arg name="gui" default="true"/>
+  <arg name="debug" default="false"/>
+  <arg name="recording" default="false"/>
+  <arg name="extra_gazebo_args" default=""/>
+
+  <arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
+  <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
+  <arg name="foot_collision" default="thinbox"/>
+  <arg name="enable_leg_passive" default="false"/>
+  <arg name="enable_fixed_robot" default="false"/>
+  <arg name="default_configuration_type" default="zeros"/>
+
+  <env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
+
+  <arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
+  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
+  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
+  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
+  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.00 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" if="$(arg start_half_sitting)"/>
+
+  <!-- start up world -->
+  <include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="recording" value="$(arg recording)"/>
+    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+  </include>
+
+
+  <group if="$(arg load_model)">
+    <include file="$(find talos_data)/robots/upload.launch" >
+      <arg name="robot" value="$(arg robot)"/>
+      <arg name="foot_collision" default="$(arg foot_collision)"/>
+      <arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
+      <arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
+      <arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
+    </include>
+  </group>
+
+
+  <!-- spawn robot in simulation -->
+  <include file="$(find talos_gazebo)/launch/talos_spawn.launch">
+    <arg name="robot"  value="$(arg robot)"/>
+    <arg name="gzpose" value="$(arg gzpose)"/>
+  </include>
+
+  <!-- default controllers -->
+  <!-- <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch"/> -->
+  <include file="$(find talos_bringup)/launch/talos_bringup.launch" />
+</launch>

launch/talos_gazebo_alone.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="start_half_sitting" default="true"/>
+  <arg name="world"  default="empty"/>  <!-- empty, small_office, ... (see ../worlds) -->
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.16 -R 0.0 -P 0.0 -Y 0.0" unless="$(arg start_half_sitting)"/>
+  <arg name="gui" default="true"/>
+  <arg name="debug" default="false"/>
+  <arg name="recording" default="false"/>
+  <arg name="extra_gazebo_args" default=""/>
+
+  <arg name="load_model" default="true"/> <!-- AS: should probably be false by default -->
+  <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
+  <arg name="foot_collision" default="thinbox"/>
+  <arg name="enable_leg_passive" default="false"/>
+  <arg name="enable_fixed_robot" default="false"/>
+  <arg name="default_configuration_type" default="zeros"/>
+
+  <env name="GAZEBO_MODEL_PATH" value="$(find talos_gazebo)/models:$(optenv GAZEBO_MODEL_PATH)"/>
+
+  <!-- start up world -->
+  <include file="$(find pal_gazebo_worlds)/launch/pal_gazebo.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="gui" value="$(arg gui)"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="recording" value="$(arg recording)"/>
+    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+  </include>
+
+
+  <group if="$(arg load_model)">
+    <include file="$(find talos_data)/robots/upload.launch" >
+      <arg name="robot" value="$(arg robot)"/>
+      <arg name="foot_collision" default="$(arg foot_collision)"/>
+      <arg name="enable_leg_passive" default="$(arg enable_leg_passive)"/>
+      <arg name="enable_fixed_robot" default="$(arg enable_fixed_robot)"/>
+      <arg name="default_configuration_type" default="$(arg default_configuration_type)"/>
+    </include>
+  </group>
+
+</launch>

launch/talos_gazebo_spawn_hs.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="left_leg_pose" default="-J leg_left_1_joint 0.0 -J leg_left_2_joint 0.0 -J leg_left_3_joint -0.411354 -J leg_left_4_joint 0.859395 -J leg_left_5_joint -0.448041 -J leg_left_6_joint -0.001708"/>
+  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.0 -J leg_right_2_joint 0.0 -J leg_right_3_joint -0.411354 -J leg_right_4_joint 0.859395 -J leg_right_5_joint -0.448041 -J leg_right_6_joint -0.001708"/>
+  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
+  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
+  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
+
+  <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
+
+  <include file="$(find talos_data)/launch/talos_spawn.launch">
+  <arg name="robot"  value="$(arg robot)"/>
+  <arg name="gzpose" value="$(arg gzpose)"/>
+  </include>
+
+</launch>

launch/talos_gazebo_spawn_hs_wide.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="left_leg_pose" default="-J leg_left_1_joint -0.001 -J leg_left_2_joint 0.062 -J leg_left_3_joint -0.4096 -J leg_left_4_joint 0.8568 -J leg_left_5_joint -0.4472 -J leg_left_6_joint -0.0600"/>
+  <arg name="right_leg_pose" default="-J leg_right_1_joint 0.002 -J leg_right_2_joint -0.0603 -J leg_right_3_joint -0.4094 -J leg_right_4_joint 0.8563 -J leg_right_5_joint -0.4469 -J leg_right_6_joint 0.0560"/>
+  <arg name="left_arm_pose" default="-J arm_left_1_joint 0.25847 -J arm_left_2_joint 0.173046 -J arm_left_3_joint -0.0002 -J arm_left_4_joint -0.525366 -J arm_left_5_joint 0.0 -J arm_left_6_joint 0.0 -J arm_left_7_joint 0.1"/>
+  <arg name="right_arm_pose" default="-J arm_right_1_joint -0.25847 -J arm_right_2_joint -0.173046 -J arm_left_3_joint 0.0002 -J arm_right_4_joint -0.525366 -J arm_right_5_joint 0.0 -J arm_right_6_joint 0.0 -J arm_right_7_joint 0.1"/>
+  <arg name="torso_pose" default="-J torso_1_joint 0.0 -J torso_2_joint 0.006761"/>
+  <arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
+
+  <arg name="robot"  default="full_v2"/>          <!-- full, lower_body, foot -->
+
+  <include file="$(find talos_gazebo)/launch/talos_spawn.launch">
+  <arg name="robot"  value="$(arg robot)"/>
+  <arg name="gzpose" value="$(arg gzpose)"/>
+  </include>
+
+</launch>

launch/talos_joint_command_rviz.launch

-
-roslaunch talos_description upload_legs.launch
-
-rosrun joint_state_publisher joint_state_publisher _use_gui:=True
-
-rosrun robot_state_publisher robot_state_publisher 
-
-rosrun rviz rviz 
-

launch/talos_spawn.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="robot"  default="full_v2"/>
+  <arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
+
+  <!-- PAL Hardware gazebo config -->
+  <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
+    <arg name="robot" value="$(arg robot)" />
+    <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
+  </include>
+
+
+  <!-- PID gains -->
+  <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
+
+  <!-- Spawn robot in Gazebo -->
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+    args="-urdf -param robot_description $(arg gzpose) -model talos" />
+
+  <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
+  <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
+</launch>

launch/talos_spawn_stiff.launch

+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <arg name="robot"  default="full_v2"/>
+  <arg name="gzpose" default="-x 0 -y 0 -z 1.0 -R 0.0 -P 0.0 -Y 0.0"/>
+
+  <!-- PAL Hardware gazebo config -->
+  <include file="$(find talos_controller_configuration)/launch/selective_rosparam_loader.launch">
+    <arg name="robot" value="$(arg robot)" />
+    <arg name="prefix" value="$(find talos_hardware_gazebo)/config/sensors/" />
+  </include>
+
+
+  <!-- PID gains -->
+  <rosparam command="load" file="$(find talos_data)/config/pids_stiff.yaml"/>
+
+  <!-- Spawn robot in Gazebo -->
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
+    args="-urdf -param robot_description $(arg gzpose) -model talos" />
+
+  <node ns="/rgbd/rgb/high_res" pkg="image_proc" type="image_proc" name="image_proc_high_res"/>
+  <node ns="/rgbd/rgb" pkg="image_proc" type="image_proc" name="image_proc"/>
+</launch>

meshes/sensors/xtion_pro_live/xtion_pro_live.dae

 <?xml version="1.0" encoding="UTF-8"?>
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
     <asset>
-        <contributalos>
+        <contributor>
             <author>VCGLab</author>
             <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributalos>
+        </contributor>
         <up_axis>Y_UP</up_axis>
         <created>Wed Jan 16 14:35:13 2013</created>
         <modified>Wed Jan 16 14:35:13 2013</modified>