--- /dev/null
+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
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+project(tatuira_bringup)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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
+ effort_controllers
+ joint_state_controller
+ linearizing_controllers
+ linearizing_controllers_msgs
+ nonsmooth_backstep_controller
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# linearizing_controllers_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES tatuira_bringup
+# CATKIN_DEPENDS effort_controllers joint_state_controller linearizing_controllers linearizing_controllers_msgs nonsmooth_backstep_controller
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/tatuira_bringup.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/tatuira_bringup_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_bringup.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+right_wheel_controller:
+ type: effort_controllers/JointEffortController
+ joint: right_rim_joint
+
+left_wheel_controller:
+ type: effort_controllers/JointEffortController
+ joint: left_rim_joint
+
+joint_states_publisher:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
--- /dev/null
+right_wheel_controller:
+ type: effort_controllers/JointVelocityController
+ joint: right_rim_joint
+ pid: {p: 0, i: 0, d: 0}
+
+left_wheel_controller:
+ type: effort_controllers/JointVelocityController
+ joint: left_rim_joint
+ pid: {p: 0, i: 0, d: 0}
+
+joint_states_publisher:
+ type: joint_state_controller/JointStateController
+ publish_rate: 100
--- /dev/null
+ijc.launch
\ No newline at end of file
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <arg name="controller" default="pid"/>
+ <arg name="config" default="$(find tatuira_bringup)/config/$(arg controller).yaml"/>
+
+ <include file="$(find tatuira_description)/launch/gazebo.launch" >
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ </include>
+
+ <rosparam file="$(arg config)" command="load"/>
+
+ <include file="$(find tatuira_bringup)/launch/$(arg controller).launch" />
+</launch>
--- /dev/null
+<launch>
+ <node name="controller_spawner" pkg="controller_manager"
+ type="spawner" respawn="false" output="screen"
+ args="right_wheel_controller left_wheel_controller joint_states_publisher" />
+</launch>
--- /dev/null
+ijc.launch
\ No newline at end of file
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>tatuira_bringup</name>
+ <version>0.0.0</version>
+ <description>The tatuira_bringup package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv3</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/tatuira_bringup</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>effort_controllers</build_depend>
+ <build_depend>joint_state_controller</build_depend>
+ <build_depend>linearizing_controllers</build_depend>
+ <build_depend>linearizing_controllers_msgs</build_depend>
+ <build_depend>nonsmooth_backstep_controller</build_depend>
+ <run_depend>effort_controllers</run_depend>
+ <run_depend>joint_state_controller</run_depend>
+ <run_depend>linearizing_controllers</run_depend>
+ <run_depend>linearizing_controllers_msgs</run_depend>
+ <run_depend>nonsmooth_backstep_controller</run_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+cmake_minimum_required(VERSION 2.8.3)
+project(tatuira_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES tatuira_description
+# CATKIN_DEPENDS other_catkin_pkg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/tatuira_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/tatuira_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_tatuira_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- /dev/null
+<launch>
+ <arg name="use_gui" default="false"/>
+ <include file="$(find tatuira_description)/launch/tatuira.launch"/>
+ <node pkg="tf2_ros" type="static_transform_publisher"
+ name="q2d_origin_publisher"
+ args="0 0 0 0 0 0 1 map origin_link" />
+ <node name="joint_state_publisher" pkg="joint_state_publisher"
+ type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher"
+ type="state_publisher" />
+ <node name="rviz" pkg="rviz" type="rviz"
+ args="-d $(find tatuira_description)/rviz/display.rviz"
+ required="true" />
+</launch>
--- /dev/null
+<launch>
+ <arg name="paused" default="true"/>
+ <arg name="headless" default="false"/>
+ <arg name="use_sim_time" default="true"/>
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="paused" value="$(arg paused)"/>
+ <arg name="headless" value="$(arg headless)"/>
+ <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+ <arg name="world_name" value="worlds/empty_sky.world" />
+ </include>
+
+ <include file="$(find tatuira_description)/launch/tatuira.launch"/>
+
+ <node name="tatuira_spawner" pkg="gazebo_ros" type="spawn_model"
+ args="-urdf -param robot_description -model tatuira" />
+</launch>
--- /dev/null
+<launch>
+ <param name="robot_description"
+ command="$(find xacro)/xacro '$(find tatuira_description)/xacro/main.urdf.xacro'"
+ />
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<package>
+ <name>tatuira_description</name>
+ <version>0.0.0</version>
+ <description>The tatuira_description package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="guir@ece.ufrgs.br">Guilherme Alan Ritter</maintainer>
+ <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>GPLv2</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/tatuira_description</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+ <author email="guir@ece.ufrgs.br">Guilherme Alan Ritter</author>
+ <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+
+
+ <!-- The *_depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use run_depend for packages you need at runtime: -->
+ <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
--- /dev/null
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /TF1
+ - /TF1/Frames1
+ Splitter Ratio: 0.5
+ Tree Height: 730
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame: <Fixed Frame>
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ awac_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ center_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ center_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_axle_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_bearing_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_fixture_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_leg_left_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_leg_right_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_fork_plate_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_wheel_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_wheel_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_back_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_back_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_motor_support_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_pinion_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ left_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ origin_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ right_back_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_back_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_0_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_1_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_2_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_motor_support_3_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_pinion_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_rim_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ right_tire_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: true
+ Frame Timeout: 15
+ Frames:
+ All Enabled: false
+ awac_link:
+ Value: true
+ center_0_link:
+ Value: true
+ center_1_link:
+ Value: true
+ front_0_link:
+ Value: true
+ front_1_link:
+ Value: true
+ front_2_link:
+ Value: true
+ front_axle_link:
+ Value: true
+ front_bearing_0_link:
+ Value: true
+ front_bearing_1_link:
+ Value: true
+ front_bearing_2_link:
+ Value: true
+ front_fork_base_link:
+ Value: true
+ front_fork_fixture_link:
+ Value: true
+ front_fork_leg_left_link:
+ Value: true
+ front_fork_leg_right_link:
+ Value: true
+ front_fork_plate_link:
+ Value: true
+ front_wheel_rim_link:
+ Value: true
+ front_wheel_tire_link:
+ Value: true
+ left_back_0_link:
+ Value: true
+ left_back_1_link:
+ Value: true
+ left_motor_link:
+ Value: true
+ left_motor_support_0_link:
+ Value: true
+ left_motor_support_1_link:
+ Value: true
+ left_motor_support_2_link:
+ Value: true
+ left_motor_support_3_link:
+ Value: true
+ left_pinion_link:
+ Value: true
+ left_rim_link:
+ Value: true
+ left_tire_link:
+ Value: true
+ map:
+ Value: true
+ origin_link:
+ Value: true
+ right_back_0_link:
+ Value: true
+ right_back_1_link:
+ Value: true
+ right_motor_link:
+ Value: true
+ right_motor_support_0_link:
+ Value: true
+ right_motor_support_1_link:
+ Value: true
+ right_motor_support_2_link:
+ Value: true
+ right_motor_support_3_link:
+ Value: true
+ right_pinion_link:
+ Value: true
+ right_rim_link:
+ Value: true
+ right_tire_link:
+ Value: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: false
+ Show Axes: true
+ Show Names: false
+ Tree:
+ map:
+ origin_link:
+ center_0_link:
+ awac_link:
+ {}
+ center_1_link:
+ {}
+ front_0_link:
+ front_1_link:
+ {}
+ front_2_link:
+ front_fork_fixture_link:
+ front_axle_link:
+ front_bearing_0_link:
+ front_fork_base_link:
+ front_bearing_1_link:
+ front_bearing_2_link:
+ {}
+ front_fork_leg_left_link:
+ {}
+ front_fork_leg_right_link:
+ front_wheel_rim_link:
+ front_wheel_tire_link:
+ {}
+ front_fork_plate_link:
+ {}
+ left_back_0_link:
+ left_back_1_link:
+ left_motor_support_0_link:
+ left_motor_support_1_link:
+ {}
+ left_motor_support_2_link:
+ left_rim_link:
+ left_tire_link:
+ {}
+ left_motor_support_3_link:
+ left_motor_link:
+ left_pinion_link:
+ {}
+ right_back_0_link:
+ right_back_1_link:
+ right_motor_support_0_link:
+ right_motor_support_1_link:
+ {}
+ right_motor_support_2_link:
+ right_rim_link:
+ right_tire_link:
+ {}
+ right_motor_support_3_link:
+ right_motor_link:
+ right_pinion_link:
+ {}
+ Update Interval: 0
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 4.47293
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.945398
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.125398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1023
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a00000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003800000367000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000367fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000038000003670000009f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000068c0000003efc0100000002fb0000000800540069006d006501000000000000068c0000025a00fffffffb0000000800540069006d00650100000000000004500000000000000000000004070000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1676
+ X: 0
+ Y: 0
--- /dev/null
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <property name="M_PI" value="3.1415926535897931" />
+
+ <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
+ <xacro:include filename="$(find tatuira_description)/xacro/wheel.urdf.xacro"/>
+
+ <xacro:macro name="back_macro" params="name parent reflect">
+
+ <xacro:link_joint_macro
+ name="${name}_back_0"
+ mesh="back_0.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="${parent}"
+ xyz="${reflect * 0.4} -0.049 0.0"
+ rpy="0.0 0.0 0.0"
+ mass="0.82979164604"
+ ic="-0.00000000346 0.01118568406 0.00271424260"
+ ixx="0.00231540984918698"
+ ixy="0.00000000018114085"
+ ixz="-0.00000000058090384"
+ iyy="0.00114996025289233"
+ iyz="-0.00017158968120192"
+ izz="0.00232143862236123"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_back_1"
+ mesh="back_1.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="${name}_back_0"
+ xyz="0.0 -0.14782353 -0.15529412"
+ rpy="1.080839000468789 0.0 0.0"
+ mass="2.00785922728"
+ ic="0.0 -0.01028407147 0.00112180903"
+ ixx="0.02508779200481037"
+ ixy="0.00000000028609052"
+ ixz="0.00000000047775430"
+ iyy="0.00280281069966725"
+ iyz="0.00041955992345986"
+ izz="0.02509249694810614"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_motor_support_0"
+ mesh="motor_support_0.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="${name}_back_1"
+ xyz="0.0 -0.165 0.0415"
+ rpy="0.0 0.0 0.0"
+ mass="0.45466057489"
+ ic="-0.00135729355 0.00673856418 0.00948011037"
+ ixx="0.00057315434121398"
+ ixy="0.00004265290455192"
+ ixz="0.00000016864451773"
+ iyy="0.00096367366636196"
+ iyz="0.00012057249613531"
+ izz="0.00133251880525203"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_motor_support_1"
+ mesh="motor_support_1.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="${name}_motor_support_0"
+ xyz="0.0475 0.02017 0.05088"
+ rpy="0.0 ${M_PI/2} 0.0"
+ mass="0.07885223158"
+ ic="0.02167529999 0.0 -0.00239278168"
+ ixx="0.00000840135814144"
+ ixy="0.00000000000000000"
+ ixz="-0.00000484810397533"
+ iyy="0.00003950963166224"
+ iyz="0.00000000000000000"
+ izz="0.00004361698546694"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_motor_support_2"
+ mesh="motor_support_2.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="${name}_motor_support_0"
+ xyz="0.0731 -0.19862942 0.02082693"
+ rpy="0.0 ${-M_PI/2} 0.0"
+ mass="0.90106738768"
+ ic="0.03081405835 0.11741147131 0.0"
+ ixx="0.00599511708852663"
+ ixy="-0.00014297021046544"
+ ixz="0.00000000000000000"
+ iyy="0.00147610812235901"
+ iyz="0.00000000000000000"
+ izz="0.00746968738921066"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_motor_support_3"
+ mesh="motor_support_3.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="${name}_motor_support_0"
+ xyz="-0.0731 -0.19862942 0.02082693"
+ rpy="0.0 ${-M_PI/2} 0.0"
+ mass="0.69826585646"
+ ic="0.02618404755 0.09896504306 0.0"
+ ixx="0.00477134103623405"
+ ixy="-0.00041034494193765"
+ ixz="0.00000000000000000"
+ iyy="0.00123684534312735"
+ iyz="0.00000000000000000"
+ izz="0.00600699467229970"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_motor"
+ mesh="motor.STL"
+ color="0.05882352941176471 0.05882352941176471 0.05882352941176471 1.0"
+ joint_type="fixed"
+ parent="${name}_motor_support_3"
+ xyz="0.04661369579 0.18137388874 -0.0436"
+ rpy="0.0 ${M_PI} 0.5696868976631546"
+ mass="7.26959339234"
+ ic="0.0 0.0 0.00014449596"
+ ixx="0.01887368260255652"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.01890092367862476"
+ iyz="0.00000000000000000"
+ izz="0.01048402533826090"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_pinion"
+ mesh="pinion.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="${name}_motor"
+ xyz="0.0 0.0 0.0923"
+ rpy="0.0 0.0 0.0"
+ mass="0.01433284898"
+ ic="0.0 0.0 0.0"
+ ixx="0.00000076252136710"
+ ixy="-0.00000000000000008"
+ ixz="0.00000000000000195"
+ iyy="0.00000075928735151"
+ iyz="0.00000000000000000"
+ izz="0.00000148482715643"
+ axis="0 0 0"
+ />
+
+ <xacro:wheel_macro name="${name}"
+ parent="${name}_motor_support_2" xyz="0.0 0.0 0.0731"/>
+
+ <transmission name="${name}_transmission">
+ <type>transmission_interface/SimpleTransmission"</type>
+ <joint name="${name}_rim_joint">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${name}_motor">
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ </xacro:macro>
+
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <property name="M_PI" value="3.1415926535897931" />
+
+ <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
+ <xacro:include filename="$(find tatuira_description)/xacro/wheel.urdf.xacro"/>
+
+ <xacro:macro name="front_macro" params="parent" >
+
+ <xacro:link_joint_macro
+ name="front_0"
+ mesh="front_0.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="${parent}"
+ xyz="0.0 0.0975 0.0"
+ rpy="0.0 0.0 0.0"
+ mass="0.55229724063"
+ ic="0.00000000199 -0.00591809850 0.00212395314"
+ ixx="0.00088454226127644"
+ ixy="0.00000000004615148"
+ ixz="0.00000000028653952"
+ iyy="0.00076697312931981"
+ iyz="0.00005972964790078"
+ izz="0.00088697580558878"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_1"
+ mesh="front_1.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="front_0"
+ xyz="0.0 0.14594662 -0.06991974"
+ rpy="-0.6057697367059143 0.0 0.0"
+ mass="1.24138915616"
+ ic="0.00000000169 -0.00702512926 -0.00114948650"
+ ixx="0.00660333614170936"
+ ixy="0.00000000040630845"
+ ixz="-0.00000000065912153"
+ iyy="0.00172787222867777"
+ iyz="-0.00043380910799047"
+ izz="0.00660484610391431"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_2"
+ mesh="front_2.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="front_0"
+ xyz="0.0 0.27439324 -0.13252346"
+ rpy="0.0 0.0 0.0"
+ mass="0.5388211840"
+ ic="0.0 0.0 0.0"
+ ixx="0.0008243365076554"
+ ixy="-0.0000000000000004"
+ ixz="0.0000000000000000"
+ iyy="0.0008243928480389"
+ iyz="0.0000000000000000"
+ izz="0.0007506940490347"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_fork_fixture"
+ mesh="front_fork_fixture.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="front_2"
+ xyz="0.0 0.0 -0.05396875"
+ rpy="0.0 0.0 0.0"
+ mass="0.13024712518"
+ ic="0.0 0.0 0.0"
+ ixx="0.00007219714133947"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00007219714133962"
+ iyz="0.00000000000000000"
+ izz="0.00014302660306844"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_axle"
+ mesh="front_axle.STL"
+ color="0.7568627450980392 0.6980392156862745 0.6862745098039216 1.0"
+ joint_type="fixed"
+ parent="front_fork_fixture"
+ xyz="0.0 0.0 -0.03546875"
+ rpy="0.0 0.0 0.0"
+ mass="0.48175312797"
+ ic="0.0 0.0 -0.00742807408"
+ ixx="0.00037322162129814"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00037322162129814"
+ iyz="0.00000000000000000"
+ izz="0.00005015139475446"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_bearing_0"
+ mesh="front_bearing_0.STL"
+ color="0.6941176470588235 0.09411764705882353 0.09411764705882353 1.0"
+ joint_type="continuous"
+ parent="front_axle"
+ xyz="0.0 0.0 -0.054"
+ rpy="0.0 0.0 0.0"
+ mass="0.02641576767"
+ ic="0.0 0.0 0.0"
+ ixx="0.00000245886770714"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00000245886770714"
+ iyz="0.00000000000000000"
+ izz="0.00000470200664498"
+ axis="0 0 1"
+ />
+
+ <xacro:link_joint_macro
+ name="front_fork_base"
+ mesh="front_fork_base.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="front_bearing_0"
+ xyz="0.0 0.0 0.000325"
+ rpy="0.0 0.0 0.0"
+ mass="1.28556795354"
+ ic="0.0 0.0 -0.00574471030"
+ ixx="0.00229649535626994"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00335755931912717"
+ iyz="0.00000000000000000"
+ izz="0.00540218574709831"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_bearing_1"
+ mesh="front_bearing_1.STL"
+ color="0.9019607843137255 0.9215686274509803 0.9215686274509803 1.0"
+ joint_type="fixed"
+ parent="front_fork_base"
+ xyz="0.0 0.0 0.018675"
+ rpy="0.0 0.0 0.0"
+ mass="0.40402"
+ ic="0.0 0.0 -0.00527"
+ ixx="0.00043823129"
+ ixy="0.00000000000"
+ ixz="0.00000000000"
+ iyy="0.00043823129"
+ iyz="0.00000000000"
+ izz="0.00083014234"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_bearing_2"
+ mesh="front_bearing_2.STL"
+ color="0.7764705882352941 0.7568627450980392 0.7372549019607844 1.0"
+ joint_type="fixed"
+ parent="front_bearing_1"
+ xyz="0.0 0.0 0.0"
+ rpy="0.0 0.0 0.0"
+ mass="0.49565022020"
+ ic="0.0 0.0 0.00132197447"
+ ixx="0.00017742295271255"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00017742295271255"
+ iyz="0.00000000000000000"
+ izz="0.00025676472551705"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_fork_plate"
+ mesh="front_fork_plate.STL"
+ color="0.8980392156862745 0.9176470588235294 0.9294117647058824 1.0"
+ joint_type="fixed"
+ parent="front_fork_base"
+ xyz="0.0 0.0 -0.00635"
+ rpy="0.0 0.0 0.0"
+ mass="0.28317316484"
+ ic="0.0 0.0 0.0"
+ ixx="0.00046317674305244"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00033813000305244"
+ iyz="0.00000000000000000"
+ izz="0.00079940370444835"
+ axis="0.0 0.0 0.0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_fork_leg_right"
+ mesh="front_fork_leg.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="front_fork_base"
+ xyz="0.073175 0.08 -0.163825"
+ rpy="0.0 ${-M_PI/2} 0.0"
+ mass="0.40205198289"
+ ic="0.08107742304 -0.05178888342 0.0"
+ ixx="0.00093856212546130"
+ ixy="-0.00062589540745806"
+ ixz="0.00000000000000000"
+ iyy="0.00114929183530640"
+ iyz="0.00000000000000000"
+ izz="0.00208515200392102"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="front_fork_leg_left"
+ mesh="front_fork_leg.STL"
+ color="0.796078431372549 0.8235294117647058 0.9372549019607843 1.0"
+ joint_type="fixed"
+ parent="front_fork_base"
+ xyz="-0.073175 0.08 -0.163825"
+ rpy="0.0 ${-M_PI/2} 0.0"
+ mass="0.40205198289"
+ ic="0.08107742304 -0.05178888342 0.0"
+ ixx="0.00093856212546130"
+ ixy="-0.00062589540745806"
+ ixz="0.00000000000000000"
+ iyy="0.00114929183530640"
+ iyz="0.00000000000000000"
+ izz="0.00208515200392102"
+ axis="0 0 0"
+ />
+
+ <xacro:wheel_macro name="front_wheel"
+ parent="front_fork_leg_right" xyz="0.0 0.0 0.073175" />
+
+ </xacro:macro>
+
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:macro
+ name="link_joint_macro"
+ params="name mass ic ixx ixy ixz iyy iyz izz mesh color joint_type parent axis xyz rpy">
+
+ <link name="${name}_link">
+
+ <inertial>
+ <mass value="${mass}"/>
+ <origin
+ xyz="${ic}"
+ rpy="0 0 0"
+ />
+ <inertia
+ ixx="${ixx}"
+ ixy="${ixy}"
+ ixz="${ixz}"
+ iyy="${iyy}"
+ iyz="${iyz}"
+ izz="${izz}"
+ />
+
+ </inertial>
+
+ <visual>
+ <geometry>
+ <mesh filename="package://tatuira_description/mesh/${mesh}"/>
+ </geometry>
+ <material name="${name}_material">
+ <color rgba="${color}"/>
+ </material>
+ </visual>
+
+ <collision>
+ <geometry>
+ <mesh filename="package://tatuira_description/mesh/${mesh}"/>
+ </geometry>
+ </collision>
+
+ </link>
+
+ <joint name="${name}_joint" type="${joint_type}">
+ <parent link="${parent}_link"/>
+ <child link="${name}_link"/>
+ <axis xyz="${axis}"/>
+ <origin xyz="${xyz}" rpy="${rpy}" />
+ </joint>
+
+ <gazebo reference="${name}_link">
+ <visual>
+ <material>
+ <ambient>${color}</ambient>
+ <diffuse>${color}</diffuse>
+ <specular>${color}</specular>
+ <emissive>0.0 0.0 0.0 0.0</emissive>
+ </material>
+ </visual>
+ </gazebo>
+
+ </xacro:macro>
+
+</robot>
--- /dev/null
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tatuira">
+
+ <xacro:include filename="$(find tatuira_description)/xacro/back.urdf.xacro"/>
+ <xacro:include filename="$(find tatuira_description)/xacro/front.urdf.xacro"/>
+ <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
+
+ <link name="origin_link"/>
+
+ <xacro:link_joint_macro
+ name="center_0"
+ mesh="center_0.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="origin"
+ xyz="0 0 0.57"
+ rpy="0 0 0"
+ mass="3.87858667175"
+ ic="0 0 -0.00000918602"
+ ixx="0.00540361654840057"
+ ixy="-0.00000000048219974"
+ ixz="-0.00000000000000036"
+ iyy="0.17029585644762900"
+ iyz="-0.00000000009082599"
+ izz="0.17029762569051027"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="center_1"
+ mesh="center_1.STL"
+ color="0.2 0.4 0.6980392156862745 1.0"
+ joint_type="fixed"
+ parent="center_0"
+ xyz="0.0 -0.20152941 -0.16411765"
+ rpy="1.080839000468789 0.0 0.0"
+ mass="3.87951252477"
+ ic="0 0 0"
+ ixx="0.00540499715304984"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.17029723682118425"
+ iyz="-0.00000000000000252"
+ izz="0.17029764247194558"
+ axis="0 0 0"
+ />
+
+ <xacro:link_joint_macro
+ name="awac"
+ mesh="awac.STL"
+ color="1.0 0.9333333333333333 0.1333333333333333 1.0"
+ joint_type="fixed"
+ parent="center_0"
+ xyz="0.0 0.0 0.04"
+ rpy="0.0 0.0 0.0"
+ mass="6.2"
+ ic="0.00000251089 -0.00000025373 0.08521842031"
+ ixx="0.02807390608741322"
+ ixy="-0.00000002716326432"
+ ixz="0.00000099547084457"
+ iyy="0.02807449284197000"
+ iyz="-0.00000002102255005"
+ izz="0.02625798192941360"
+ axis="0 0 0"
+ />
+
+ <xacro:front_macro parent="center_0" />
+
+ <xacro:back_macro name="right" parent="center_0" reflect="1" />
+
+ <xacro:back_macro name="left" parent="center_0" reflect="-1" />
+
+ <gazebo>
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+ <!--<robotNamespace>/tatuira</robotNamespace>-->
+ <controlPeriod>0.001</controlPeriod>
+ </plugin>
+ </gazebo>
+
+</robot>
--- /dev/null
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
+
+ <xacro:macro name="wheel_macro" params="name parent xyz" >
+
+ <xacro:link_joint_macro
+ name="${name}_rim"
+ mesh="wheel_rim.STL"
+ color="0.8901960784313725 0.9137254901960784 0.9294117647058824 1.0"
+ joint_type="continuous"
+ parent="${parent}"
+ xyz="${xyz}"
+ rpy="0.0 0.0 0.0"
+ mass="0.37146494316"
+ ic="0.0 0.0 0.00000000119"
+ ixx="0.00062271608170239"
+ ixy="0.00000000000000000"
+ ixz="0.00000000000000000"
+ iyy="0.00062271608170239"
+ iyz="0.00000000000000000"
+ izz="0.00090247881658236"
+ axis="0 0 1"
+ />
+
+ <xacro:link_joint_macro
+ name="${name}_tire"
+ mesh="wheel_tire.STL"
+ color="0.1098039215686274 0.1098039215686274 0.1098039215686274 1.0"
+ joint_type="fixed"
+ parent="${name}_rim"
+ xyz="0.0 0.0 0.0"
+ rpy="0.0 0.0 0.0"
+ mass="2.26290427564"
+ ic="0.0 0.0 0.0"
+ ixx="0.01078144993886312"
+ ixy="-0.00000000000000035"
+ ixz="0.00000000000000003"
+ iyy="0.01078144993885176"
+ iyz="0.00000000000000723"
+ izz="0.01960149217334795"
+ axis="0 0 0"
+ />
+
+ </xacro:macro>
+
+</robot>
projects / tatuira.git / commitdiff