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Initial commit of TurtleBot Xtion mounting system description.

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1 parent d09243c commit 832444fde9bd48731c9cd88910769bdf7d8527a1 I Heart Robotics committed Jan 31, 2012
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  1. +17 −0 ihe_hardware/CMakeLists.txt
  2. +1 −0 ihe_hardware/Makefile
  3. +12 −0 ihe_hardware/stack.xml
  4. +1 −0 ihe_hardware/turtlebot_xtion_top_description/.gitignore
  5. +30 −0 ihe_hardware/turtlebot_xtion_top_description/CMakeLists.txt
  6. +1 −0 ihe_hardware/turtlebot_xtion_top_description/Makefile
  7. +5 −0 ihe_hardware/turtlebot_xtion_top_description/README
  8. +12 −0 ihe_hardware/turtlebot_xtion_top_description/launch/test.launch
  9. +104 −0 ihe_hardware/turtlebot_xtion_top_description/launch/test.vcg
  10. +26 −0 ihe_hardware/turtlebot_xtion_top_description/mainpage.dox
  11. +16 −0 ihe_hardware/turtlebot_xtion_top_description/manifest.xml
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  38. +157 −0 ihe_hardware/turtlebot_xtion_top_description/urdf/gazebo.urdf.xacro
  39. +12 −0 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.urdf.xacro
  40. +649 −0 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.xacro
  41. +12 −0 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot_calibration.xacro
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@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
+# directories (or patterns, but directories should suffice) that should
+# be excluded from the distro. This is not the place to put things that
+# should be ignored everywhere, like "build" directories; that happens in
+# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
+# ready for inclusion in a distro.
+#
+# This list is combined with the list in rosbuild/rosbuild.cmake. Note
+# that CMake 2.6 may be required to ensure that the two lists are combined
+# properly. CMake 2.4 seems to have unpredictable scoping rules for such
+# variables.
+#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+
+rosbuild_make_distribution(0.1.0)
View
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk
View
@@ -0,0 +1,12 @@
+<stack>
+ <description brief="ihe_hardware">I Heart
+Engineering Hardware</description>
+ <author>Maintained by I Heart Engineering</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/ihe_hardware</url>
+ <depend stack="robot_model" /> <!-- urdf -->
+ <depend stack="ros" />
+ <depend stack="xacro" /> <!-- xacro -->
+
+</stack>
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
@@ -0,0 +1,5 @@
+Demo usage:
+
+1) Launch the test file:
+
+roslaunch turtlebot_xtion_top_description test.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_xtion_top_description)/urdf/turtlebot.urdf.xacro'" />
+
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
+ <param name="publish_frequency" type="double" value="30.0" />
+ </node>
+
+ <node pkg="rviz" type="rviz" name="rviz" args="-d $(find turtlebot_xtion_top_description)/launch/test.vcg" output="screen" />
+</launch>
@@ -0,0 +1,104 @@
+Background\ ColorR=0
+Background\ ColorG=0.00392157
+Background\ ColorB=0.223529
+Fixed\ Frame=/base_link
+Target\ Frame=<Fixed Frame>
+Grid.Alpha=0.5
+Grid.Cell\ Size=1
+Grid.ColorR=0.5
+Grid.ColorG=0.5
+Grid.ColorB=0.5
+Grid.Enabled=1
+Grid.Line\ Style=0
+Grid.Line\ Width=0.03
+Grid.Normal\ Cell\ Count=0
+Grid.OffsetX=0
+Grid.OffsetY=0
+Grid.OffsetZ=0
+Grid.Plane=0
+Grid.Plane\ Cell\ Count=10
+Grid.Reference\ Frame=<Fixed Frame>
+Robot\ Model.Alpha=1
+Robot\ Model.Collision\ Enabled=0
+Robot\ Model.Enabled=1
+Robot\ Model.Robot\ Description=robot_description
+Robot\ Model.TF\ Prefix=
+Robot\ Model.Update\ Interval=0
+Robot\ Model.Visual\ Enabled=1
+Robot\:\ Robot\ Model\ Link\ base_footprintShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_footprintShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ front_wheel_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ front_wheel_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ gyro_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ gyro_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ laserShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ laserShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ left_wheel_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ left_wheel_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ plate_0_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ plate_0_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ plate_1_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ plate_1_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ plate_2_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ plate_2_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ plate_3_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ plate_3_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ rear_wheel_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ rear_wheel_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ right_wheel_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ right_wheel_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ spacer_0_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ spacer_0_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ spacer_1_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ spacer_1_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ spacer_2_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ spacer_2_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ spacer_3_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ spacer_3_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_0_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_0_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_1_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_1_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_2_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_2_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_3_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_3_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_4_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_4_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_5_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_5_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_6_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_6_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_7_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_2in_7_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_0_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_0_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_1_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_1_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_2_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_2_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_3_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_3_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_4_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_4_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_5_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ standoff_8in_5_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ xtion_linkShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ xtion_linkShow\ Trail=0
+Robot\:\ Robot\ Model\ Link\ xtion_platformShow\ Axes=0
+Robot\:\ Robot\ Model\ Link\ xtion_platformShow\ Trail=0
+Tool\ 2D\ Nav\ GoalTopic=goal
+Tool\ 2D\ Pose\ EstimateTopic=initialpose
+Camera\ Type=rviz::XYOrbitViewController
+Camera\ Config=1.091 3.64076 2.60197 -0.571117 -2.26951e-07 -0.362999
+Property\ Grid\ State=selection=Robot Model.Enabled;expanded=.Global Options,Robot Model.Enabled;scrollpos=0,0;splitterpos=164,329;ispageselected=1
+[Display0]
+Name=Robot Model
+Package=rviz
+ClassName=rviz::RobotModelDisplay
+[Display1]
+Name=Grid
+Package=rviz
+ClassName=rviz::GridDisplay
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b turtlebot_xtion_top_description provides a complete 3D model of the TurtleBot for simulation and visualization. This model includes an ASUS Xtion and mounting system.
+
+<!--
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
@@ -0,0 +1,16 @@
+<package>
+ <description brief="turtlebot_xtion_top_description">
+
+ turtlebot_xtion_top_description provides a complete 3D model of a TurtleBot with an ASUS Xtion Pro Live camera mounted on top.
+
+ </description>
+ <author>Melonee Wise, I Heart Engineering</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/turtlebot_xtion_top_description</url>
+ <depend package="urdf"/>
+ <depend package="xacro"/>
+
+</package>
+
+
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