From d5014f34053975ff55b5bbc8d1c0e739d8c7518b Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 21 Mar 2018 17:22:29 -0300
Subject: [PATCH] Fix whell names.

---
 twil_description/launch/display.launch             |   4 ++-
 .../meshes/{castor_base.stl => caster_base.stl}    | Bin
 .../{castor_support.stl => caster_support.stl}     | Bin
 .../meshes/{castor_wheel.stl => caster_wheel.stl}  | Bin
 twil_description/rviz/{urdf.rviz => display.rviz}  |  12 ++++-----
 ...stor_base.urdf.xacro => caster_base.urdf.xacro} |   6 ++---
 ...upport.urdf.xacro => caster_support.urdf.xacro} |   6 ++---
 ...or_wheel.urdf.xacro => caster_wheel.urdf.xacro} |   6 ++---
 twil_description/xacro/twil.urdf.xacro             |  30 ++++++++++-----------
 twil_description/xacro/twil_wam.urdf.xacro         |  14 +++++-----
 10 files changed, 40 insertions(+), 38 deletions(-)
 rename twil_description/meshes/{castor_base.stl => caster_base.stl} (100%)
 rename twil_description/meshes/{castor_support.stl => caster_support.stl} (100%)
 rename twil_description/meshes/{castor_wheel.stl => caster_wheel.stl} (100%)
 rename twil_description/rviz/{urdf.rviz => display.rviz} (97%)
 rename twil_description/xacro/{castor_base.urdf.xacro => caster_base.urdf.xacro} (83%)
 rename twil_description/xacro/{castor_support.urdf.xacro => caster_support.urdf.xacro} (83%)
 rename twil_description/xacro/{castor_wheel.urdf.xacro => caster_wheel.urdf.xacro} (85%)

diff --git a/twil_description/launch/display.launch b/twil_description/launch/display.launch
index b17a754..86ab474 100644
--- a/twil_description/launch/display.launch
+++ b/twil_description/launch/display.launch
@@ -6,9 +6,11 @@
 		<arg name="wam" value="$(arg wam)" />
 	</include>
 
+	<node pkg="tf2_ros" type="static_transform_publisher" name="mob_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" />
+
 	<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 twil_description)/rviz/urdf.rviz" required="true"/>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find twil_description)/rviz/display.rviz" required="true"/>
 </launch>
diff --git a/twil_description/meshes/castor_base.stl b/twil_description/meshes/caster_base.stl
similarity index 100%
rename from twil_description/meshes/castor_base.stl
rename to twil_description/meshes/caster_base.stl
diff --git a/twil_description/meshes/castor_support.stl b/twil_description/meshes/caster_support.stl
similarity index 100%
rename from twil_description/meshes/castor_support.stl
rename to twil_description/meshes/caster_support.stl
diff --git a/twil_description/meshes/castor_wheel.stl b/twil_description/meshes/caster_wheel.stl
similarity index 100%
rename from twil_description/meshes/castor_wheel.stl
rename to twil_description/meshes/caster_wheel.stl
diff --git a/twil_description/rviz/urdf.rviz b/twil_description/rviz/display.rviz
similarity index 97%
rename from twil_description/rviz/urdf.rviz
rename to twil_description/rviz/display.rviz
index c1db83d..d25d868 100644
--- a/twil_description/rviz/urdf.rviz
+++ b/twil_description/rviz/display.rviz
@@ -65,17 +65,17 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        castor_base:
+        caster_base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        castor_support:
+        caster_support:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        castor_wheel:
+        caster_wheel:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -99,17 +99,17 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        front_castor_base:
+        front_caster_base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_castor_support:
+        front_caster_support:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_castor_wheel:
+        front_caster_wheel:
           Alpha: 1
           Show Axes: false
           Show Trail: false
diff --git a/twil_description/xacro/castor_base.urdf.xacro b/twil_description/xacro/caster_base.urdf.xacro
similarity index 83%
rename from twil_description/xacro/castor_base.urdf.xacro
rename to twil_description/xacro/caster_base.urdf.xacro
index 9271976..d38f6f6 100644
--- a/twil_description/xacro/castor_base.urdf.xacro
+++ b/twil_description/xacro/caster_base.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="castor_base" params="name parent *origin">
+  <xacro:macro name="caster_base" params="name parent *origin">
 
   <link name="${name}">
     <inertial>
@@ -13,7 +13,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_base.stl" />
+        <mesh filename="package://twil_description/meshes/caster_base.stl" />
       </geometry>
       <material name="">
         <color rgba="0.64706 0.61961 0.58431 1" />
@@ -22,7 +22,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_base.stl" />
+        <mesh filename="package://twil_description/meshes/caster_base.stl" />
       </geometry>
     </collision>
   </link>
diff --git a/twil_description/xacro/castor_support.urdf.xacro b/twil_description/xacro/caster_support.urdf.xacro
similarity index 83%
rename from twil_description/xacro/castor_support.urdf.xacro
rename to twil_description/xacro/caster_support.urdf.xacro
index b5c86d0..dac2725 100644
--- a/twil_description/xacro/castor_support.urdf.xacro
+++ b/twil_description/xacro/caster_support.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="castor_support" params="name parent *origin">
+  <xacro:macro name="caster_support" params="name parent *origin">
 
   <link name="${name}">
     <inertial>
@@ -13,7 +13,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_support.stl" />
+        <mesh filename="package://twil_description/meshes/caster_support.stl" />
       </geometry>
       <material name="">
         <color rgba="0.64706 0.61961 0.58431 1" />
@@ -22,7 +22,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_support.stl" />
+        <mesh filename="package://twil_description/meshes/caster_support.stl" />
       </geometry>
     </collision>
   </link>
diff --git a/twil_description/xacro/castor_wheel.urdf.xacro b/twil_description/xacro/caster_wheel.urdf.xacro
similarity index 85%
rename from twil_description/xacro/castor_wheel.urdf.xacro
rename to twil_description/xacro/caster_wheel.urdf.xacro
index e697875..a1aaf19 100644
--- a/twil_description/xacro/castor_wheel.urdf.xacro
+++ b/twil_description/xacro/caster_wheel.urdf.xacro
@@ -2,7 +2,7 @@
 
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="castor_wheel" params="name parent *origin">
+  <xacro:macro name="caster_wheel" params="name parent *origin">
 
   <link name="${name}">
     <inertial>
@@ -13,7 +13,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_wheel.stl" />
+        <mesh filename="package://twil_description/meshes/caster_wheel.stl" />
       </geometry>
       <material name="">
         <color rgba="0.75294 0.75294 0.75294 1" />
@@ -22,7 +22,7 @@
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://twil_description/meshes/castor_wheel.stl" />
+        <mesh filename="package://twil_description/meshes/caster_wheel.stl" />
       </geometry>
     </collision>
   </link>
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index ebc8381..fa32a0c 100644
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -6,9 +6,9 @@
   <xacro:include filename="$(find twil_description)/xacro/chassis.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/fixed_wheel_support.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/fixed_wheel.urdf.xacro" />
-  <xacro:include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
-  <xacro:include filename="$(find twil_description)/xacro/castor_base.urdf.xacro" />
-  <xacro:include filename="$(find twil_description)/xacro/castor_wheel.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/caster_support.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/caster_base.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/caster_wheel.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/battery_bosch_12v.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/cpu.urdf.xacro" />
   <xacro:include filename="$(find twil_description)/xacro/eurocard.urdf.xacro" />
@@ -35,29 +35,29 @@
     <origin xyz="0 0.0 -0.095" rpy="0 0 0" />
   </xacro:fixed_wheel>
 
-  <xacro:castor_support name="castor_support" parent="chassis">
+  <xacro:caster_support name="caster_support" parent="chassis">
     <origin xyz="-0.2 0 -0.002" rpy="0 0 0" />
-  </xacro:castor_support>
+  </xacro:caster_support>
 
-  <xacro:castor_base name="castor_base" parent="castor_support">
+  <xacro:caster_base name="caster_base" parent="caster_support">
     <origin xyz="0 0 -0.1325" rpy="0 0 0" />
-  </xacro:castor_base>
+  </xacro:caster_base>
 
-  <xacro:castor_wheel name="castor_wheel" parent="castor_base">
+  <xacro:caster_wheel name="caster_wheel" parent="caster_base">
     <origin xyz="-0.04 0 0" rpy="0 0 0" />
-  </xacro:castor_wheel>
+  </xacro:caster_wheel>
 
-  <xacro:castor_support name="front_castor_support" parent="chassis">
+  <xacro:caster_support name="front_caster_support" parent="chassis">
     <origin xyz="0.2 0 -0.002" rpy="0 0 0" />
-  </xacro:castor_support>
+  </xacro:caster_support>
 
-  <xacro:castor_base name="front_castor_base" parent="front_castor_support">
+  <xacro:caster_base name="front_caster_base" parent="front_caster_support">
     <origin xyz="0 0 -0.1325" rpy="0 0 0" />
-  </xacro:castor_base>
+  </xacro:caster_base>
 
-  <xacro:castor_wheel name="front_castor_wheel" parent="front_castor_base">
+  <xacro:caster_wheel name="front_caster_wheel" parent="front_caster_base">
     <origin xyz="-0.04 0 0" rpy="0 0 0" />
-  </xacro:castor_wheel>
+  </xacro:caster_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}" />
diff --git a/twil_description/xacro/twil_wam.urdf.xacro b/twil_description/xacro/twil_wam.urdf.xacro
index d594217..cbe14dd 100644
--- a/twil_description/xacro/twil_wam.urdf.xacro
+++ b/twil_description/xacro/twil_wam.urdf.xacro
@@ -13,19 +13,19 @@
   </joint>
 
 
-  <xacro:include filename="$(find twil_description)/xacro/castor_support.urdf.xacro" />
+  <xacro:include filename="$(find twil_description)/xacro/caster_support.urdf.xacro" />
 
-  <xacro:castor_support name="castor_support_front" parent="chassis">
+  <xacro:caster_support name="caster_support_front" parent="chassis">
     <origin xyz="0.2 0 -0.002" rpy="0 0 0" />
-  </xacro:castor_support>
+  </xacro:caster_support>
 
-  <xacro:castor_base name="castor_base_front" parent="castor_support_front">
+  <xacro:caster_base name="caster_base_front" parent="caster_support_front">
     <origin xyz="0 0 -0.1325" rpy="0 0 0" />
-  </xacro:castor_base>
+  </xacro:caster_base>
 
-  <xacro:castor_wheel name="castor_wheel_front" parent="castor_base_front">
+  <xacro:caster_wheel name="caster_wheel_front" parent="caster_base_front">
     <origin xyz="-0.04 0 0" rpy="0 0 0" />
-  </xacro:castor_wheel>
+  </xacro:caster_wheel>
 
 
 </robot>
-- 
2.12.0