added explorer urdf

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 885c2136b25fcb10af4b80e5be421b99335083a4..2526ea6f3f8ba6ab168f7a02ebbfc79800fb1a9f 100644 (file)
--- 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 edfdc1cdd26451d4c52780b2ebb7f7a653a7aa77..fa4e33d5b83d96e317e27def1230cbc6507123d4 100644 (file)
--- 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 acdc3f69f5fb569d9b46a493650d393160bfe770..7d43954b0e57659b167e97ddebbd45a6630002c3 100644 (file)
--- 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 (file)
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>