From 16cf0cd1873fea9ba53a0c89f0c43dedab6c0b6f Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 20 Mar 2018 14:27:31 -0300
Subject: [PATCH] twil_description: included front wheel 	included
 argument for paused start in simulation launch files

---
 .gitignore                                  |  2 +-
 twil_control_gazebo/mainpage.dox            | 14 ++++++++++++++
 twil_description/launch/twil_sim.launch     |  7 ++++++-
 twil_description/launch/twil_wam_sim.launch |  7 ++++++-
 twil_description/mainpage.dox               | 14 ++++++++++++++
 twil_description/xacro/twil.urdf.xacro      | 22 +++++++++++++++++++---
 6 files changed, 60 insertions(+), 6 deletions(-)
 create mode 100644 twil_control_gazebo/mainpage.dox
 create mode 100644 twil_description/mainpage.dox

diff --git a/.gitignore b/.gitignore
index 35d74bb..c1edc29 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,7 +22,7 @@ devel_isolated/
 /cfg/*.py
 
 # Ignore generated docs
-*.dox
+#*.dox
 *.wikidoc
 
 # eclipse stuff
diff --git a/twil_control_gazebo/mainpage.dox b/twil_control_gazebo/mainpage.dox
new file mode 100644
index 0000000..590fcdc
--- /dev/null
+++ b/twil_control_gazebo/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b twil_control_gazebo 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/twil_description/launch/twil_sim.launch b/twil_description/launch/twil_sim.launch
index 9b13c48..58e959c 100644
--- a/twil_description/launch/twil_sim.launch
+++ b/twil_description/launch/twil_sim.launch
@@ -1,6 +1,11 @@
 <launch>
+
+	<arg name="paused" default="false"/>
+
 	<!-- Start Gazebo -->
-	<include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+	<include file="$(find gazebo_worlds)/launch/empty_world.launch">
+		<arg name="paused" value="$(arg paused)"/>
+        </include>
 
 	<include file="$(find twil_description)/launch/twil.launch"/>
 </launch>
diff --git a/twil_description/launch/twil_wam_sim.launch b/twil_description/launch/twil_wam_sim.launch
index eccc16a..28aa15a 100644
--- a/twil_description/launch/twil_wam_sim.launch
+++ b/twil_description/launch/twil_wam_sim.launch
@@ -1,7 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+
+	<arg name="paused" default="false"/>
+
 	<!-- Start Gazebo -->
-	<include file="$(find gazebo_worlds)/launch/empty_world.launch"/>
+	<include file="$(find gazebo_worlds)/launch/empty_world.launch">
+		<arg name="paused" value="$(arg paused)"/>
+        </include>
 
 	<include file="$(find twil_description)/launch/twil_wam.launch"/>
 </launch>
diff --git a/twil_description/mainpage.dox b/twil_description/mainpage.dox
new file mode 100644
index 0000000..40fed2b
--- /dev/null
+++ b/twil_description/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b twil_description 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index efca20e..d4ef22d 100644
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -22,7 +22,7 @@
   <include filename="$(find twil_description)/xacro/cpu.urdf.xacro" />
   <include filename="$(find twil_description)/xacro/eurocard.urdf.xacro" />
 
-  <link name="twil_origin"/>
+  <link name="twil_origin" />
 
   <xacro:chassis name="chassis" parent="twil_origin">
     <origin xyz="0 0 0.172" rpy="0 0 0"/>
@@ -33,7 +33,7 @@
   </xacro:fixed_wheel_support>
 
   <xacro:fixed_wheel name="right_wheel" parent="right_wheel_support">
-    <origin xyz="0 0 -0.095" rpy="0 0 0" />
+    <origin xyz="0 0 -0.095" rpy="0 0 ${-M_PI}" />
   </xacro:fixed_wheel>
 
   <xacro:fixed_wheel_support name="left_wheel_support" parent="chassis">
@@ -56,8 +56,24 @@
     <origin xyz="-0.04 0 0" rpy="0 0 0" />
   </xacro:castor_wheel>
 
-  <xacro:battery_bosch_12v name="battery" parent="chassis">
+  <xacro:castor_support name="front_castor_support" parent="chassis">
+    <origin xyz="0.2 0 -0.002" rpy="0 0 0" />
+  </xacro:castor_support>
+
+  <xacro:castor_base name="front_castor_base" parent="front_castor_support">
+    <origin xyz="0 0 -0.1325" rpy="0 0 0" />
+  </xacro:castor_base>
+
+  <xacro:castor_wheel name="front_castor_wheel" parent="front_castor_base">
+    <origin xyz="-0.04 0 0" rpy="0 0 0" />
+  </xacro:castor_wheel>
+
+  <!--xacro:battery_bosch_12v name="battery" parent="chassis">
     <origin xyz="-0.15 0.0 ${0.0015+0.0875}" rpy="0.0 0.0 ${M_PI/2}" />
+  </xacro:battery_bosch_12v-->
+
+  <xacro:battery_bosch_12v name="battery" parent="chassis">
+    <origin xyz="0.0 0.0 ${0.0015+0.0875}" rpy="0.0 0.0 ${M_PI/2}" />
   </xacro:battery_bosch_12v>
 
   <xacro:eurocard name="fan" parent="chassis">
-- 
2.12.0