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Initial commit of TurtleBot Xtion mounting system description.

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commit 832444fde9bd48731c9cd88910769bdf7d8527a1 1 parent d09243c
I Heart Robotics authored
Showing with 3,288 additions and 0 deletions.
  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
  12. +63 −0 ihe_hardware/turtlebot_xtion_top_description/meshes/68-02403-125_Spacer.dae
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  30. +137 −0 ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/asus_xtion_pro_live.dae
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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
  42. +167 −0 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot_hardware.xacro
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17 ihe_hardware/CMakeLists.txt
@@ -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)
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1  ihe_hardware/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake_stack.mk
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12 ihe_hardware/stack.xml
@@ -0,0 +1,12 @@
+<stack>
+ <description brief="ihe_hardware">I Heart
+Engineering Hardware</description>
+ <author>Maintained by I Heart Engineering</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/ihe_hardware</url>
+ <depend stack="robot_model" /> <!-- urdf -->
+ <depend stack="ros" />
+ <depend stack="xacro" /> <!-- xacro -->
+
+</stack>
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1  ihe_hardware/turtlebot_xtion_top_description/.gitignore
@@ -0,0 +1 @@
+*~
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30 ihe_hardware/turtlebot_xtion_top_description/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($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})
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1  ihe_hardware/turtlebot_xtion_top_description/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
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5 ihe_hardware/turtlebot_xtion_top_description/README
@@ -0,0 +1,5 @@
+Demo usage:
+
+1) Launch the test file:
+
+roslaunch turtlebot_xtion_top_description test.launch
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12 ihe_hardware/turtlebot_xtion_top_description/launch/test.launch
@@ -0,0 +1,12 @@
+<launch>
+
+ <param name="robot_description" command="$(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>
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104 ihe_hardware/turtlebot_xtion_top_description/launch/test.vcg
@@ -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
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26 ihe_hardware/turtlebot_xtion_top_description/mainpage.dox
@@ -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.
+-->
+
+
+*/
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16 ihe_hardware/turtlebot_xtion_top_description/manifest.xml
@@ -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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63 ihe_hardware/turtlebot_xtion_top_description/meshes/68-02403-125_Spacer.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Mon Feb 28 09:15:04 2011</created>
+ <modified>Mon Feb 28 09:15:04 2011</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/68-04552-1000-RA_Turtlebot_M-F_Standoff.dae
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae
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BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/68-04556-RA_Kinect_Standoff_Assy.3ds
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348 ihe_hardware/turtlebot_xtion_top_description/meshes/create_body.dae
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174 ihe_hardware/turtlebot_xtion_top_description/meshes/kinect.dae
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174 ihe_hardware/turtlebot_xtion_top_description/meshes/plate_0_logo.dae
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+ <instance_rigid_body body="Mesh-Node_001_005-RigidBody" target="#Mesh-Node_001_005"/>
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+ </library_physics_scenes>
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View
BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/plate_0_logo.tga
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174 ihe_hardware/turtlebot_xtion_top_description/meshes/plate_1_logo.dae
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+ <library_physics_scenes>
+ <physics_scene id="good-Physics" name="good-Physics">
+ <instance_physics_model url="#good-PhysicsModel">
+ <instance_rigid_body body="Cylinder-RigidBody" target="#Cylinder"/>
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+</COLLADA>
View
BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/plate_1_logo.tga
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174 ihe_hardware/turtlebot_xtion_top_description/meshes/plate_2_logo.dae
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+ <authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
+ <comments></comments>
+ <copyright></copyright>
+ <source_data>file:///u/nkoenig/plate_2.blend</source_data>
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BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/plate_2_logo.tga
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/asus_xtion_pro_live.dae
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BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/asus_xtion_pro_live.png
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_base.dae
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719 2157 160 719 2158 359 719 2159 474 720 2160 160 720 2161 487 720 2162 486 721 2163 359 721 2164 360 721 2165 487 722 2166 359 722 2167 486 722 2168 485 723 2169 360 723 2170 361 723 2171 486 724 2172 360 724 2173 485 724 2174 484 725 2175 361 725 2176 161 725 2177 485 726 2178 361 726 2179 484 726 2180 483 727 2181 161 727 2182 362 727 2183 484 728 2184 161 728 2185 483 728 2186 363 729 2187 362 729 2188 364 729 2189 483 730 2190 362 730 2191 363 730 2192 365 731 2193 364 731 2194 366 731 2195 363 732 2196 364 732 2197 365 732 2198 482 733 2199 366 733 2200 65 733 2201 365 734 2202 366 734 2203 482 734 2204 441 735 2205 65 735 2206 66 735 2207 482 736 2208 65 736 2209 441 736 2210 367 737 2211 66 737 2212 62 737 2213 441 738 2214 66 738 2215 367 738 2216 370 739 2217 62 739 2218 368 739 2219 367 740 2220 62 740 2221 370 740 2222 372 741 2223 368 741 2224 369 741 2225 370 742 2226 368 742 2227 372 742 2228 371 743 2229 369 743 2230 61 743 2231 372 744 2232 369 744 2233 371 744 2234 443 745 2235 61 745 2236 373 745 2237 371 746 2238 61 746 2239 443 746 2240 374 747 2241 373 747 2242 375 747 2243 443 748 2244 373 748 2245 374 748 2246 376 749 2247 375 749 2248 58 749 2249 374 750 2250 375 750 2251 376 750 2252 377 751 2253 58 751 2254 54 751 2255 376 752 2256 58 752 2257 377 752 2258 378 753 2259 54 753 2260 56 753 2261 377 754 2262 54 754 2263 378 754 2264 379 755 2265 56 755 2266 55 755 2267 378 756 2268 56 756 2269 379 756 2270 446 757 2271 55 757 2272 380 757 2273 379 758 2274 55 758 2275 446 758 2276 447 759 2277 380 759 2278 381 759 2279 446 760 2280 380 760 2281 447 760 2282 448 761 2283 381 761 2284 50 761 2285 447 762 2286 381 762 2287 448 762 2288 382 763 2289 50 763 2290 383 763 2291 448 764 2292 50 764 2293 382 764 2294 384 765 2295 383 765 2296 385 765 2297 382 766 2298 383 766 2299 384 766 2300 451 767 2301 385 767 2302 46 767 2303 384 768 2304 385 768 2305 451 768 2306 451 769 2307 46 769 2308 450 769 2309 476 770 2310 386 770 2311 387 770 2312 512 771 2313 390 771 2314 386 771 2315 512 772 2316 386 772 2317 476 772 2318 389 773 2319 387 773 2320 388 773 2321 389 774 2322 476 774 2323 387 774 2324 395 775 2325 390 775 2326 388 775 2327 515 776 2328 388 776 2329 390 776 2330 389 777 2331 388 777 2332 515 777 2333 395 778 2334 394 778 2335 390 778 2336 515 779 2337 390 779 2338 512 779 2339 393 780 2340 392 780 2341 394 780 2342 513 781 2343 391 781 2344 392 781 2345 513 782 2346 392 782 2347 393 782 2348 514 783 2349 394 783 2350 395 783 2351 514 784 2352 393 784 2353 394 784 2354 396 785 2355 395 785 2356 391 785 2357 514 786 2358 395 786 2359 396 786 2360 396 787 2361 391 787 2362 513 787 2363 456 788 2364 2 788 2365 398 788 2366 397 789 2367 398 789 2368 5 789 2369 397 790 2370 455 790 2371 398 790 2372 456 791 2373 398 791 2374 455 791 2375 399 792 2376 400 792 2377 2 792 2378 399 793 2379 2 793 2380 456 793 2381 233 794 2382 402 794 2383 400 794 2384 231 795 2385 233 795 2386 400 795 2387 230 796 2388 231 796 2389 400 796 2390 399 797 2391 230 797 2392 400 797 2393 401 798 2394 403 798 2395 402 798 2396 235 799 2397 401 799 2398 402 799 2399 233 800 2400 235 800 2401 402 800 2402 405 801 2403 407 801 2404 403 801 2405 237 802 2406 405 802 2407 403 802 2408 236 803 2409 237 803 2410 403 803 2411 401 804 2412 236 804 2413 403 804 2414 404 805 2415 408 805 2416 407 805 2417 406 806 2418 404 806 2419 407 806 2420 405 807 2421 406 807 2422 407 807 2423 241 808 2424 33 808 2425 408 808 2426 240 809 2427 241 809 2428 408 809 2429 404 810 2430 240 810 2431 408 810 2432 245 811 2433 29 811 2434 33 811 2435 244 812 2436 245 812 2437 33 812 2438 409 813 2439 244 813 2440 33 813 2441 241 814 2442 409 814 2443 33 814 2444 410 815 2445 412 815 2446 29 815 2447 246 816 2448 410 816 2449 29 816 2450 245 817 2451 246 817 2452 29 817 2453 505 818 2454 411 818 2455 412 818 2456 410 819 2457 505 819 2458 412 819 2459 289 820 2460 415 820 2461 411 820 2462 476 821 2463 411 821 2464 505 821 2465 476 822 2466 289 822 2467 411 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848 2546 425 849 2547 397 849 2548 5 849 2549 309 850 2550 44 850 2551 426 850 2552 480 851 2553 426 851 2554 48 851 2555 513 852 2556 426 852 2557 480 852 2558 513 853 2559 309 853 2560 426 853 2561 311 854 2562 427 854 2563 44 854 2564 311 855 2565 44 855 2566 309 855 2567 428 856 2568 429 856 2569 427 856 2570 314 857 2571 428 857 2572 427 857 2573 313 858 2574 314 858 2575 427 858 2576 311 859 2577 313 859 2578 427 859 2579 432 860 2580 433 860 2581 429 860 2582 316 861 2583 432 861 2584 429 861 2585 428 862 2586 316 862 2587 429 862 2588 430 863 2589 435 863 2590 433 863 2591 431 864 2592 430 864 2593 433 864 2594 317 865 2595 431 865 2596 433 865 2597 432 866 2598 317 866 2599 433 866 2600 436 867 2601 79 867 2602 435 867 2603 434 868 2604 436 868 2605 435 868 2606 430 869 2607 434 869 2608 435 869 2609 321 870 2610 83 870 2611 79 870 2612 319 871 2613 321 871 2614 79 871 2615 436 872 2616 319 872 2617 79 872 2618 326 873 2619 439 873 2620 83 873 2621 324 874 2622 326 874 2623 83 874 2624 437 875 2625 324 875 2626 83 875 2627 321 876 2628 437 876 2629 83 876 2630 500 877 2631 440 877 2632 439 877 2633 438 878 2634 500 878 2635 439 878 2636 326 879 2637 438 879 2638 439 879 2639 107 880 2640 72 880 2641 440 880 2642 500 881 2643 107 881 2644 440 881 2645 441 882 2646 71 882 2647 72 882 2648 107 883 2649 489 883 2650 72 883 2651 441 884 2652 72 884 2653 489 884 2654 367 885 2655 442 885 2656 71 885 2657 441 886 2658 367 886 2659 71 886 2660 371 887 2661 67 887 2662 442 887 2663 372 888 2664 371 888 2665 442 888 2666 370 889 2667 372 889 2668 442 889 2669 367 890 2670 370 890 2671 442 890 2672 374 891 2673 444 891 2674 67 891 2675 443 892 2676 374 892 2677 67 892 2678 371 893 2679 443 893 2680 67 893 2681 378 894 2682 60 894 2683 444 894 2684 377 895 2685 378 895 2686 444 895 2687 376 896 2688 377 896 2689 444 896 2690 374 897 2691 376 897 2692 444 897 2693 446 898 2694 445 898 2695 60 898 2696 379 899 2697 446 899 2698 60 899 2699 378 900 2700 379 900 2701 60 900 2702 448 901 2703 449 901 2704 445 901 2705 447 902 2706 448 902 2707 445 902 2708 446 903 2709 447 903 2710 445 903 2711 451 904 2712 51 904 2713 449 904 2714 384 905 2715 451 905 2716 449 905 2717 382 906 2718 384 906 2719 449 906 2720 448 907 2721 382 907 2722 449 907 2723 345 908 2724 48 908 2725 51 908 2726 450 909 2727 345 909 2728 51 909 2729 451 910 2730 450 910 2731 51 910 2732 345 911 2733 480 911 2734 48 911 2735 227 912 2736 455 912 2737 452 912 2738 502 913 2739 452 913 2740 505 913 2741 268 914 2742 227 914 2743 452 914 2744 265 915 2745 268 915 2746 452 915 2747 453 916 2748 265 916 2749 452 916 2750 263 917 2751 453 917 2752 452 917 2753 261 918 2754 263 918 2755 452 918 2756 260 919 2757 261 919 2758 452 919 2759 454 920 2760 260 920 2761 452 920 2762 502 921 2763 454 921 2764 452 921 2765 184 922 2766 222 922 2767 455 922 2768 397 923 2769 184 923 2770 455 923 2771 227 924 2772 456 924 2773 455 924 2774 186 925 2775 223 925 2776 222 925 2777 184 926 2778 186 926 2779 222 926 2780 187 927 2781 221 927 2782 223 927 2783 186 928 2784 187 928 2785 223 928 2786 458 929 2787 457 929 2788 221 929 2789 187 930 2790 458 930 2791 221 930 2792 460 931 2793 459 931 2794 457 931 2795 458 932 2796 460 932 2797 457 932 2798 461 933 2799 462 933 2800 459 933 2801 460 934 2802 461 934 2803 459 934 2804 198 935 2805 463 935 2806 462 935 2807 461 936 2808 198 936 2809 462 936 2810 196 937 2811 219 937 2812 463 937 2813 198 938 2814 196 938 2815 463 938 2816 201 939 2817 217 939 2818 219 939 2819 196 940 2820 201 940 2821 219 940 2822 464 941 2823 216 941 2824 217 941 2825 201 942 2826 464 942 2827 217 942 2828 206 943 2829 465 943 2830 216 943 2831 464 944 2832 206 944 2833 216 944 2834 467 945 2835 466 945 2836 465 945 2837 206 946 2838 467 946 2839 465 946 2840 207 947 2841 213 947 2842 466 947 2843 467 948 2844 207 948 2845 466 948 2846 468 949 2847 469 949 2848 213 949 2849 207 950 2850 468 950 2851 213 950 2852 468 951 2853 212 951 2854 469 951 2855 281 952 2856 480 952 2857 397 952 2858 473 953 2859 397 953 2860 425 953 2861 280 954 2862 281 954 2863 397 954 2864 470 955 2865 280 955 2866 397 955 2867 277 956 2868 470 956 2869 397 956 2870 471 957 2871 277 957 2872 397 957 2873 274 958 2874 471 958 2875 397 958 2876 273 959 2877 274 959 2878 397 959 2879 472 960 2880 273 960 2881 397 960 2882 473 961 2883 472 961 2884 397 961 2885 474 962 2886 163 962 2887 480 962 2888 475 963 2889 287 963 2890 480 963 2891 476 964 2892 480 964 2893 287 964 2894 285 965 2895 475 965 2896 480 965 2897 477 966 2898 285 966 2899 480 966 2900 284 967 2901 477 967 2902 480 967 2903 478 968 2904 284 968 2905 480 968 2906 282 969 2907 478 969 2908 480 969 2909 479 970 2910 282 970 2911 480 970 2912 281 971 2913 479 971 2914 480 971 2915 346 972 2916 480 972 2917 345 972 2918 481 973 2919 474 973 2920 480 973 2921 356 974 2922 481 974 2923 480 974 2924 353 975 2925 356 975 2926 480 975 2927 355 976 2928 353 976 2929 480 976 2930 351 977 2931 355 977 2932 480 977 2933 350 978 2934 351 978 2935 480 978 2936 349 979 2937 350 979 2938 480 979 2939 346 980 2940 349 980 2941 480 980 2942 389 981 2943 480 981 2944 476 981 2945 389 982 2946 515 982 2947 480 982 2948 396 983 2949 480 983 2950 515 983 2951 396 984 2952 513 984 2953 480 984 2954 482 985 2955 489 985 2956 163 985 2957 365 986 2958 482 986 2959 163 986 2960 363 987 2961 365 987 2962 163 987 2963 483 988 2964 363 988 2965 163 988 2966 484 989 2967 483 989 2968 163 989 2969 485 990 2970 484 990 2971 163 990 2972 486 991 2973 485 991 2974 163 991 2975 487 992 2976 486 992 2977 163 992 2978 474 993 2979 487 993 2980 163 993 2981 488 994 2982 162 994 2983 489 994 2984 107 995 2985 488 995 2986 489 995 2987 482 996 2988 441 996 2989 489 996 2990 114 997 2991 490 997 2992 162 997 2993 488 998 2994 114 998 2995 162 998 2996 115 999 2997 157 999 2998 490 999 2999 114 1000 3000 115 1000 3001 490 1000 3002 116 1001 3003 156 1001 3004 157 1001 3005 115 1002 3006 116 1002 3007 157 1002 3008 119 1003 3009 492 1003 3010 156 1003 3011 116 1004 3012 119 1004 3013 156 1004 3014 122 1005 3015 491 1005 3016 492 1005 3017 119 1006 3018 122 1006 3019 492 1006 3020 125 1007 3021 153 1007 3022 491 1007 3023 122 1008 3024 125 1008 3025 491 1008 3026 126 1009 3027 151 1009 3028 153 1009 3029 125 1010 3030 126 1010 3031 153 1010 3032 129 1011 3033 493 1011 3034 151 1011 3035 126 1012 3036 129 1012 3037 151 1012 3038 132 1013 3039 494 1013 3040 493 1013 3041 129 1014 3042 132 1014 3043 493 1014 3044 133 1015 3045 149 1015 3046 494 1015 3047 132 1016 3048 133 1016 3049 494 1016 3050 139 1017 3051 146 1017 3052 149 1017 3053 133 1018 3054 139 1018 3055 149 1018 3056 138 1019 3057 145 1019 3058 146 1019 3059 139 1020 3060 138 1020 3061 146 1020 3062 495 1021 3063 143 1021 3064 145 1021 3065 138 1022 3066 495 1022 3067 145 1022 3068 495 1023 3069 142 1023 3070 143 1023 3071 496 1024 3072 505 1024 3073 107 1024 3074 497 1025 3075 496 1025 3076 107 1025 3077 498 1026 3078 497 1026 3079 107 1026 3080 333 1027 3081 498 1027 3082 107 1027 3083 332 1028 3084 333 1028 3085 107 1028 3086 330 1029 3087 332 1029 3088 107 1029 3089 499 1030 3090 330 1030 3091 107 1030 3092 329 1031 3093 499 1031 3094 107 1031 3095 501 1032 3096 329 1032 3097 107 1032 3098 500 1033 3099 501 1033 3100 107 1033 3101 503 1034 3102 502 1034 3103 505 1034 3104 256 1035 3105 503 1035 3106 505 1035 3107 252 1036 3108 256 1036 3109 505 1036 3110 504 1037 3111 252 1037 3112 505 1037 3113 251 1038 3114 504 1038 3115 505 1038 3116 506 1039 3117 251 1039 3118 505 1039 3119 249 1040 3120 506 1040 3121 505 1040 3122 507 1041 3123 249 1041 3124 505 1041 3125 410 1042 3126 507 1042 3127 505 1042 3128 508 1043 3129 343 1043 3130 505 1043 3131 513 1044 3132 505 1044 3133 343 1044 3134 339 1045 3135 508 1045 3136 505 1045 3137 509 1046 3138 339 1046 3139 505 1046 3140 510 1047 3141 509 1047 3142 505 1047 3143 337 1048 3144 510 1048 3145 505 1048 3146 511 1049 3147 337 1049 3148 505 1049 3149 335 1050 3150 511 1050 3151 505 1050 3152 496 1051 3153 335 1051 3154 505 1051 3155 512 1052 3156 476 1052 3157 505 1052 3158 514 1053 3159 512 1053 3160 505 1053 3161 513 1054 3162 393 1054 3163 505 1054 3164 514 1055 3165 505 1055 3166 393 1055 3167 476 1056 3168 287 1056 3169 289 1056 3170 513 1057 3171 343 1057 3172 309 1057 3173 514 1058 3174 515 1058 3175 512 1058 3176 514 1059 3177 396 1059 3178 515 1059 3179</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="material0" target="#material0">
+ <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
View
BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_base.png
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_bracket_left.dae
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BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_bracket_left.png
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137 ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_bracket_right.dae
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BIN  ihe_hardware/turtlebot_xtion_top_description/meshes/xtion/xtion_bracket_right.png
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157 ihe_hardware/turtlebot_xtion_top_description/urdf/gazebo.urdf.xacro
@@ -0,0 +1,157 @@
+<?xml version="1.0"?>
+
+<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
+
+ <gazebo>
+ <controller:gazebo_ros_create name="create_controller" plugin="libgazebo_ros_create.so">
+ <alwaysOn>true</alwaysOn>
+ <node_namespace>turtlebot_node</node_namespace>
+ <left_wheel_joint>left_wheel_joint</left_wheel_joint>
+ <right_wheel_joint>right_wheel_joint</right_wheel_joint>
+ <front_castor_joint>front_castor_joint</front_castor_joint>
+ <rear_castor_joint>rear_castor_joint</rear_castor_joint>
+ <wheel_separation>.260</wheel_separation>
+ <wheel_diameter>0.066</wheel_diameter>
+ <base_geom>base_link_geom_base_link</base_geom>
+ <updateRate>40</updateRate>
+ <torque>1.0</torque>
+ </controller:gazebo_ros_create>
+ </gazebo>
+
+ <gazebo reference="wall_sensor_link">
+ <sensor:ray name="wall_sensor">
+ <alwaysActive>true</alwaysActive>
+ <rayCount>1</rayCount>
+ <rangeCount>1</rangeCount>
+ <resRange>0.1</resRange>
+
+ <minAngle>0</minAngle>
+ <maxAngle>0</maxAngle>
+
+ <minRange>0.0160</minRange>
+ <maxRange>0.04</maxRange>
+ <displayRays>false</displayRays>
+ </sensor:ray>
+ </gazebo>
+
+ <gazebo reference="left_cliff_sensor_link">
+ <sensor:ray name="left_cliff_sensor">
+ <alwaysActive>true</alwaysActive>
+ <rayCount>1</rayCount>
+ <rangeCount>1</rangeCount>
+ <resRange>0.1</resRange>
+
+ <minAngle>0</minAngle>
+ <maxAngle>0</maxAngle>
+
+ <minRange>0.01</minRange>
+ <maxRange>0.04</maxRange>
+ <displayRays>false</displayRays>
+ </sensor:ray>
+ </gazebo>
+
+ <gazebo reference="right_cliff_sensor_link">
+ <sensor:ray name="right_cliff_sensor">
+ <alwaysActive>true</alwaysActive>
+ <rayCount>1</rayCount>
+ <rangeCount>1</rangeCount>
+ <resRange>0.1</resRange>
+
+ <minAngle>0</minAngle>
+ <maxAngle>0</maxAngle>
+
+ <minRange>0.01</minRange>
+ <maxRange>0.04</maxRange>
+ <displayRays>false</displayRays>
+ </sensor:ray>
+ </gazebo>
+
+
+ <gazebo reference="leftfront_cliff_sensor_link">
+ <sensor:ray name="leftfront_cliff_sensor">
+ <alwaysActive>true</alwaysActive>
+ <rayCount>1</rayCount>
+ <rangeCount>1</rangeCount>
+ <resRange>0.1</resRange>
+
+ <minAngle>0</minAngle>
+ <maxAngle>0</maxAngle>
+
+ <minRange>0.01</minRange>
+ <maxRange>0.04</maxRange>
+ <displayRays>false</displayRays>
+ </sensor:ray>
+ </gazebo>
+
+ <gazebo reference="rightfront_cliff_sensor_link">
+ <sensor:ray name="rightfront_cliff_sensor">
+ <alwaysActive>true</alwaysActive>
+ <rayCount>1</rayCount>
+ <rangeCount>1</rangeCount>
+ <resRange>0.1</resRange>
+
+ <minAngle>0</minAngle>
+ <maxAngle>0</maxAngle>
+
+ <minRange>0.01</minRange>
+ <maxRange>0.04</maxRange>
+ <displayRays>fan</displayRays>
+ </sensor:ray>
+ </gazebo>
+
+
+ <gazebo reference="kinect_link">
+ <sensor:camera name="kinect_camera">
+ <imageFormat>R8G8B8</imageFormat>
+ <imageSize>640 480</imageSize>
+ <hfov>60</hfov>
+ <nearClip>0.05</nearClip>
+ <farClip>3</farClip>
+ <updateRate>20</updateRate>
+ <baseline>0.1</baseline>
+ <controller:gazebo_ros_openni_kinect name="kinect_camera_controller" plugin="libgazebo_ros_openni_kinect.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>20</updateRate>
+ <imageTopicName>/camera/image_raw</imageTopicName>
+ <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
+ <cameraInfoTopicName>/camera/camera_info</cameraInfoTopicName>
+ <frameName>kinect_depth_optical_frame</frameName>
+ <distortion_k1>0.00000001</distortion_k1>
+ <distortion_k2>0.00000001</distortion_k2>
+ <distortion_k3>0.00000001</distortion_k3>
+ <distortion_t1>0.00000001</distortion_t1>
+ <distortion_t2>0.00000001</distortion_t2>
+ </controller:gazebo_ros_openni_kinect>
+ </sensor:camera>
+ </gazebo>
+
+ <gazebo reference="left_wheel_link">
+ <mu1 value="10"/>
+ <mu2 value="10"/>
+ <kp value="100000000.0"/>
+ <kd value="10000.0"/>
+ <fdir value="1 0 0"/>
+ </gazebo>
+
+ <gazebo reference="right_wheel_link">
+ <mu1 value="10"/>
+ <mu2 value="10"/>
+ <kp value="100000000.0"/>
+ <kd value="10000.0"/>
+ <fdir value="1 0 0"/>
+ </gazebo>
+ <gazebo reference="rear_wheel_link">
+ <mu1 value="0"/>
+ <mu2 value="0"/>
+ <kp value="100000000.0"/>
+ <kd value="10000.0"/>
+ </gazebo>
+
+ <gazebo reference="front_wheel_link">
+ <mu1 value="0"/>
+ <mu2 value="0"/>
+ <kp value="100000000.0"/>
+ <kd value="10000.0"/>
+ </gazebo>
+
+</robot>
View
12 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot name="turtlebot"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <!-- Included URDF Files -->
+ <include filename="$(find turtlebot_xtion_top_description)/urdf/turtlebot.xacro" />
+
+ <turtlebot />
+</robot>
View
649 ihe_hardware/turtlebot_xtion_top_description/urdf/turtlebot.xacro
@@ -0,0 +1,649 @@
+<?xml version="1.0"?>
+
+<robot>
+ <include filename="$(find turtlebot_xtion_top_description)/urdf/turtlebot_hardware.xacro" />
+ <include filename="$(find turtlebot_xtion_top_description)/urdf/gazebo.urdf.xacro"/>
+ <include filename="$(find turtlebot_xtion_top_description)/urdf/turtlebot_calibration.xacro" />
+
+
+ <material name="Green">
+ <color rgba="0.0 0.8 0.0 1.0"/>
+ </material>
+
+ <property name="M_PI" value="3.14159"/>
+ <property name="SCALE" value="0.0254"/>
+ <property name="base_x" value="0.33" />
+ <property name="base_y" value="0.33" />
+
+ <macro name="turtlebot">
+ <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
+
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0.0001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0"
+ izz="0.0001" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ <material name="Green" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.017" rpy="0 0 0" />
+ <geometry>
+ <box size="0.001 0.001 0.001" />
+ </geometry>
+ </collision>
+ </link>
+
+ <link name="base_link">
+ <inertial>
+ <mass value="2" />
+ <origin xyz="0 0 0.0" />
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+ iyy="0.01" iyz="0.0" izz="0.5" />
+ </inertial>
+
+ <visual>
+ <origin xyz=" 0 0 0.0308" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot_xtion_top_description/meshes/create_body.dae"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0.0 0.0 0.0308" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.0611632" radius="0.016495"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <link name="wall_sensor_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+
+
+ <link name="left_cliff_sensor_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+
+ <link name="right_cliff_sensor_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+
+
+
+ <link name="leftfront_cliff_sensor_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0"/>
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0"
+ iyy="0.01" iyz="0.0" izz="0.01" />
+ </inertial>
+ </link>
+
+ <link name="rightfront_cliff_sensor_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0"/>
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+ </link>
+
+
+ <joint name="base_footprint_joint" type="fixed">
+ <origin xyz="0 0 0.017" rpy="0 0 0" />
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ </joint>
+
+ <joint name="base_wall_sensor_joint" type="fixed">
+ <origin xyz="0.09 -0.120 0.042" rpy="0 0 -1.0" />
+ <parent link="base_link"/>
+ <child link="wall_sensor_link" />
+ </joint>
+
+ <joint name="base_left_cliff_sensor_joint" type="fixed">
+ <origin xyz="0.07 0.14 0.01" rpy="0 1.57079 0" />
+ <parent link="base_link"/>
+ <child link="left_cliff_sensor_link" />
+ </joint>
+
+ <joint name="base_right_cliff_sensor_joint" type="fixed">
+ <origin xyz="0.07 -0.14 0.01" rpy="0 1.57079 0" />
+ <parent link="base_link"/>
+ <child link="right_cliff_sensor_link" />
+ </joint>
+
+ <joint name="base_leftfront_cliff_sensor_joint" type="fixed">
+ <origin xyz="0.15 0.04 0.01" rpy="0 1.57079 0" />
+ <parent link="base_link"/>
+ <child link="leftfront_cliff_sensor_link" />
+ </joint>
+
+ <joint name="base_rightfront_cliff_sensor_joint" type="fixed">
+ <origin xyz="0.15 -0.04 0.01" rpy="0 1.57079 0" />
+ <parent link="base_link"/>
+ <child link="rightfront_cliff_sensor_link" />
+ </joint>
+
+
+
+ <link name="left_wheel_link">
+ <inertial>
+ <origin xyz="0 0 0"/>
+ <mass value="0.01" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <cylinder radius="0.033" length = "0.023"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <cylinder radius="0.033" length = "0.023"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="left_wheel_joint" type="continuous">
+ <origin xyz="0 0.13 0.015" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="left_wheel_link"/>
+ <axis xyz="0 1 0"/>
+ </joint>
+
+ <link name="right_wheel_link">
+ <inertial>
+ <origin xyz="0 0 0"/>
+ <mass value="0.01" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <cylinder radius="0.033" length = "0.023"/>
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <cylinder radius="0.033" length = "0.023"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="right_wheel_joint" type="continuous">
+ <origin xyz="0 -0.13 0.015" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="right_wheel_link"/>
+ <axis xyz="0 1 0"/>
+ </joint>
+
+ <link name="rear_wheel_link">
+ <inertial>
+ <origin xyz="0 0 0"/>
+ <mass value="0.001" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0" izz="0.0001" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+ <geometry>
+ <sphere radius="0.015" />
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <sphere radius="0.015" />
+ </geometry>
+ </collision>
+ </link>
+ <!-- fixed because there's no transmission -->
+ <joint name="rear_castor_joint" type="fixed">
+ <origin xyz="-0.13 0 0.0" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="rear_wheel_link"/>
+ <axis xyz="0 1 0"/>
+ </joint>
+
+ <link name="front_wheel_link">
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.01" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0" izz="0.001" />
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
+ <geometry>
+ <sphere radius="0.018" />
+ </geometry>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
+ <geometry>
+ <sphere radius="0.018" />
+ </geometry>
+ </collision>
+ </link>
+
+ <!-- fixed because there's no transmission -->
+ <joint name="front_castor_joint" type="fixed">
+ <origin xyz="0.13 0 0.0" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="front_wheel_link"/>
+ <axis xyz="0 1 0"/>
+ </joint>
+
+ <turtlebot_spacer parent="base_link" number="0" x_loc="-0.00254" y_loc="0.1114679" z_loc="0.062992"/>
+ <turtlebot_spacer parent="base_link" number="1" x_loc="-0.00254" y_loc="-0.1114679" z_loc="0.062992"/>
+ <turtlebot_spacer parent="base_link" number="2" x_loc="-0.07239" y_loc="-0.1114679" z_loc="0.062992"/>
+ <turtlebot_spacer parent="base_link" number="3" x_loc="-0.07239" y_loc="0.1114679" z_loc="0.062992"/>
+
+ <joint name="gyro_joint" type="fixed">
+ <origin xyz="0 0 0.04" rpy="0 0 0" />
+ <parent link="base_link" />
+ <child link="gyro_link" />
+ </joint>
+
+ <link name="gyro_link">
+ <visual>
+ <geometry>
+ <box size="0.02 0.035 0.002" />
+ </geometry>
+ <material name="Green" />
+ </visual>
+ <inertial>
+ <mass value="0.001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0"
+ izz="0.0001" />
+ </inertial>
+ </link>
+
+ <joint name="laser_joint" type="fixed">
+ <origin xyz="-0.065 0 0.075" rpy="0 0 0" />
+ <parent link="base_link" />
+ <child link="laser" />
+ </joint>
+
+ <link name="laser">
+ <visual>
+ <geometry>
+ <box size="0.02 0.035 0.002" />
+ </geometry>
+ <material name="Green" />
+ </visual>
+ <inertial>
+ <mass value="0.001" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+ iyy="0.0001" iyz="0.0"
+ izz="0.0001" />
+ </inertial>
+ </link>
+
+
+ <joint name="plate_0_joint" type="fixed">
+ <origin xyz="-0.04334 0 0.06775704" rpy="0 0 0" />
+ <parent link="base_link"/>
+ <child link="plate_0_link" />
+ </joint>
+
+
+ <link name="plate_0_link">
+ <inertial>
+ <mass value="0.01" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.01" ixy="0.0" ixz="0.0"
+ iyy="0.01" iyz="0.0"
+ izz="0.01" />
+ </inertial>
+
+ <visual>
+ <origin xyz=" 0 0 0 " rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://turtlebot_xtion_top_description/meshes/plate_0_logo.dae"/>
+ </geometry>
+ </visual>