Initial commit.

diff --git a/.gitignore b/.gitignore
new file mode 100644 (file)
index 0000000..14b6454
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,54 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+#*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+# Joe
+DEADJOE

diff --git a/launch/display.launch b/launch/display.launch
new file mode 100644 (file)
index 0000000..a113ced
--- /dev/null
+++ b/launch/display.launch
@@ -0,0 +1,11 @@
+<launch>\r
+  <arg name="model" />\r
+  <arg name="gui" default="False" />\r
+  <param\r
+    name="robot_description"\r
+    textfile="$(find plier_description)/urdf/plier.urdf" />\r
+  <param name="use_gui" value="$(arg gui)" />\r
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />\r
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />\r
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find plier_description)/urdf.rviz" />\r
+</launch>
\ No newline at end of file

diff --git a/launch/gazebo.launch b/launch/gazebo.launch
new file mode 100644 (file)
index 0000000..c829339
--- /dev/null
+++ b/launch/gazebo.launch
@@ -0,0 +1,7 @@
+<launch>\r
+  <include file="$(find gazebo_worlds)/launch/empty_world.launch" />\r
+  <node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />\r
+  <node name="spawn_model" pkg="gazebo" type="spawn_model" args="-file $(find plier)/urdf/plier.urdf -urdf -model plier" output="screen" />\r
+  <include file="$(find pr2_controller_manager)/controller_manager.launch" />\r
+  <node name="fake_joint_calibration" pkg="rostopic" type="rostopic"  args="pub /calibrated std_msgs/Bool true" />\r
+</launch>
\ No newline at end of file

diff --git a/launch/plier.launch b/launch/plier.launch
new file mode 100644 (file)
index 0000000..8376d88
--- /dev/null
+++ b/launch/plier.launch
@@ -0,0 +1,4 @@
+<launch>
+       <param name="robot_description" textfile="$(find plier_description)/urdf/plier.urdf" />
+       <node name="spawn_wam_object" pkg="gazebo" type="spawn_model" args="-urdf -param robot_description -model plier" respawn="false" output="screen" />
+</launch>

diff --git a/launch/plier_sim.launch b/launch/plier_sim.launch
new file mode 100644 (file)
index 0000000..c9bf77f
--- /dev/null
+++ b/launch/plier_sim.launch
@@ -0,0 +1,6 @@
+<launch>
+       <!-- Start Gazebo -->
+       <include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+
+       <include file="$(find plier_description)/launch/plier.launch"/>
+</launch>

diff --git a/manifest.xml b/manifest.xml
new file mode 100644 (file)
index 0000000..97a62e2
--- /dev/null
+++ b/manifest.xml
@@ -0,0 +1,6 @@
+<package>\r
+  <description brief="plier_description">plier_description</description>\r
+  <depend package="gazebo" />\r
+  <author>Walter Fetter Lags</author>\r
+  <license>BSD</license>\r
+</package>
\ No newline at end of file

diff --git a/meshes/base_link.stl b/meshes/base_link.stl
new file mode 100644 (file)
index 0000000..eab1cf1
Binary files /dev/null and b/meshes/base_link.stl differ

diff --git a/meshes/link1.stl b/meshes/link1.stl
new file mode 100644 (file)
index 0000000..6bcdc08
Binary files /dev/null and b/meshes/link1.stl differ

diff --git a/meshes/link2.stl b/meshes/link2.stl
new file mode 100644 (file)
index 0000000..6f95350
Binary files /dev/null and b/meshes/link2.stl differ

diff --git a/urdf/plier.urdf b/urdf/plier.urdf
new file mode 100644 (file)
index 0000000..6ad1514
--- /dev/null
+++ b/urdf/plier.urdf
@@ -0,0 +1,112 @@
+<robot name="plier">\r
+\r
+  <link name="base_link">\r
+\r
+    <inertial>\r
+      <origin xyz="-2.9946E-09 2.3647E-09 0.038028" rpy="0 0 0" />\r
+      <mass value="0.065887" />\r
+      <inertia ixx="0.0001476" ixy="5.724E-13" ixz="-6.0829E-11" iyy="0.0001476" iyz="4.4824E-11" izz="8.4481E-05" />\r
+    </inertial>\r
+\r
+    <visual>\r
+      <origin  xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/base_link.stl" />\r
+      </geometry>\r
+      <material name="">\r
+        <color rgba="0.75294 0.75294 0.75294 1" />\r
+      </material>\r
+    </visual>\r
+\r
+    <collision>\r
+      <origin xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/base_link.stl" />\r
+      </geometry>\r
+    </collision>\r
+  </link>\r
+\r
+  <link name="link1">\r
+\r
+    <inertial>\r
+      <origin xyz="0.00018812 -0.011115 0.0015573" rpy="0 0 0" />\r
+      <mass value="0.00011808" />\r
+      <inertia ixx="5.1612E-09" ixy="-9.0621E-11" ixz="2.0497E-12" iyy="1.6125E-10" iyz="-1.1473E-10" izz="5.0583E-09" />\r
+    </inertial>\r
+\r
+    <visual>\r
+      <origin xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/link1.stl" />\r
+      </geometry>\r
+      <material name="">\r
+        <color rgba="0.75294 0.75294 0.75294 1" />\r
+      </material>\r
+    </visual>\r
+\r
+    <collision>\r
+      <origin xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/link1.stl" />\r
+      </geometry>\r
+    </collision>\r
+\r
+  </link>\r
+\r
+  <joint name="joint1" type="revolute">\r
+    <origin xyz="-0.00125 0.00098997 0.3459" rpy="-1.5708 -6.123E-17 -1.5708" />\r
+    <parent link="base_link" />\r
+    <child link="link1" />\r
+    <axis xyz="0 0 1" />\r
+    <limit lower="-0.05" upper="0.05" effort="0.31" velocity="0.25" />\r
+  </joint>\r
+\r
+  <link name="link2">\r
+    <inertial>\r
+      <origin xyz="-0.0001883 -0.011122 0.00021282" rpy="0 0 0" />\r
+      <mass value="0.00011791" />\r
+      <inertia ixx="5.1222E-09" ixy="9.017E-11" ixz="1.1618E-12" iyy="1.4783E-10" iyz="6.6059E-11" izz="5.0326E-09" />\r
+    </inertial>\r
+\r
+    <visual>\r
+      <origin xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/link2.stl" />\r
+      </geometry>\r
+      <material name="">\r
+        <color rgba="0.75294 0.75294 0.75294 1" />\r
+      </material>\r
+    </visual>\r
+\r
+    <collision>\r
+      <origin xyz="0 0 0" rpy="0 0 0" />\r
+      <geometry>\r
+        <mesh filename="package://plier_description/meshes/link2.stl" />\r
+      </geometry>\r
+    </collision>\r
+\r
+  </link>\r
+\r
+  <joint name="joint2" type="revolute">\r
+    <origin xyz="0.00025 -0.00098997 0.3459" rpy="-1.5708 -6.123E-17 -1.5708" />\r
+    <parent link="base_link" />\r
+    <child link="link2" />\r
+    <axis xyz="0 0 1" />\r
+    <limit lower="-0.05" upper="0.05" effort="0.31" velocity="0.25" />\r
+  </joint>\r
+\r
+  <gazebo reference="base_link">
+    <material>Gazebo/Yellow</material>
+  </gazebo>\r
+\r
+\r
+  <gazebo reference="link1">
+    <material>Gazebo/White</material>
+  </gazebo>\r
+\r
+\r
+  <gazebo reference="link2">
+    <material>Gazebo/Grey</material>
+  </gazebo>\r
+\r
+</robot>\r