From f5eea9a58ebf3f5740c64e4b77c3fe52ed9fa351 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Sat, 14 Sep 2013 12:22:02 +0200
Subject: [PATCH] added explorer urdf

---
 CMakeLists.txt                |   2 +-
 explorer_configuration.launch |   4 ++
 package.xml                   |   2 +
 urdf/explorer.urdf            | 101 ++++++++++++++++++++++++++++++++++
 4 files changed, 108 insertions(+), 1 deletion(-)
 create mode 100644 urdf/explorer.urdf

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 885c213..2526ea6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,7 +4,7 @@ project(roboint)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation urdf)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index edfdc1c..fa4e33d 100644
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,4 +1,6 @@
 <launch>
+	<param name="robot_description" textfile="urdf/explorer.urdf" />
+
 	<node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
 	</node>
 
@@ -10,4 +12,6 @@
 		<!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
 		<param name="wheel_size" value="0.02575" />
 	</node>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>
diff --git a/package.xml b/package.xml
index acdc3f6..7d43954 100644
--- a/package.xml
+++ b/package.xml
@@ -51,6 +51,8 @@
   <build_depend>nav_msgs</build_depend>
   <build_depend>tf</build_depend>
   <run_depend>tf</run_depend>
+  <build_depend>urdf</build_depend>
+  <run_depend>urdf</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/urdf/explorer.urdf b/urdf/explorer.urdf
new file mode 100644
index 0000000..d5c84c5
--- /dev/null
+++ b/urdf/explorer.urdf
@@ -0,0 +1,101 @@
+<?xml version="1.0"?>
+<robot name="explorer">
+	<link name="base_link">
+		<visual>
+			<geometry>
+				<box size="0.14 0.155 0.085"/>
+			</geometry>
+			<origin xyz="0.06 0 0.0525" rpy="0 0 0"/>
+			<material name="white">
+				<color rgba="1 1 1 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="tail">
+		<visual>
+			<geometry>
+				<box size="0.06 0.09 0.075"/>
+			</geometry>
+			<origin xyz="0 0 0.0525" rpy="0 0 0"/>
+			<material name="red">
+				<color rgba="1 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="left_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.026" length="0.02"/>
+			</geometry>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="right_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.026" length="0.02"/>
+			</geometry>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="aft_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.01" length="0.02"/>
+			</geometry>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="scan">
+		<visual>
+			<geometry>
+				<box size="0.015 0.045 0.03"/>
+			</geometry>
+			<origin xyz="0.065 0 0.06" rpy="0 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<joint name="tail_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="tail"/>
+		<origin xyz="-0.04 0 0.005" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="left_wheel_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="left_wheel"/>
+		<origin xyz="0.07 -0.08 0.026" rpy="1.57 0 0"/>
+	</joint>
+
+	<joint name="right_wheel_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="right_wheel"/>
+		<origin xyz="0.07 0.08 0.026" rpy="1.57 0 0"/>
+	</joint>
+
+	<joint name="aft_wheel_joint" type="fixed">
+		<parent link="tail"/>
+		<child link="aft_wheel"/>
+		<origin xyz="0 0 0.005" rpy="1.57 0 0"/>
+	</joint>
+
+	<joint name="scan_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="scan"/>
+		<origin xyz="0.06 0 0" rpy="0 0 0"/>
+	</joint>
+</robot>
-- 
2.39.5