From fd6ae55188019c3e21cc9341b34aea471038494d Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 2 Apr 2020 07:22:51 +0200
Subject: [PATCH] configuration with manipulator

---
 launch/wild_thumper.launch                    |  9 +++++++--
 urdf/wild_thumper_with_manipulator.urdf.xacro | 12 ++++++++++++
 2 files changed, 19 insertions(+), 2 deletions(-)
 create mode 100644 urdf/wild_thumper_with_manipulator.urdf.xacro

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 834a588..ec21d0b 100644
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -6,12 +6,17 @@
 
 	<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"/>
 
+	<!--
 	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+	-->
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
 
 	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
 		<param name="publish_frequency" value="20.0" />
 	</node>
-	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
+	<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen">
+		<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro" />
+	</node>
 
 	<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
 		<rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>
@@ -22,7 +27,7 @@
 		<param name="enable_odom_tf" value="false" if="$(arg use_imu)"/>
 	</node>
 
-	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" if="$(arg use_imu)">
+	<node pkg="wild_thumper" type="tinkerforge_imu2.py" name="tinkerforge_imu_brick2" output="screen" respawn="true" if="$(arg use_imu)">
 		<param name="uid" value="6DdNSn"/>
 	</node>
 
diff --git a/urdf/wild_thumper_with_manipulator.urdf.xacro b/urdf/wild_thumper_with_manipulator.urdf.xacro
new file mode 100644
index 0000000..3144258
--- /dev/null
+++ b/urdf/wild_thumper_with_manipulator.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<robot name="wild_thumper_with_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
+	<xacro:property name="PI" value="3.1415926535897931" />
+	<xacro:include filename="$(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+	<xacro:include filename="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
+
+	<joint name="open_manipulator_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<child link="link1"/>
+		<origin xyz="-0.075 0.0 0.045" rpy="0 0 ${PI}"/>
+	</joint>
+</robot>
-- 
2.39.5