Adding urdf for TurtleBot Metric Version.

ihe_hardware/turtlebot_body/CMakeLists.txt

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+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})

ihe_hardware/turtlebot_body/Makefile

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+include $(shell rospack find mk)/cmake.mk

ihe_hardware/turtlebot_body/launch/demo.launch

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+<launch>
+    <arg name="model" default="turtlebot_metric.urdf.xacro"/>
+    <arg name="gui" default="False" />
+
+    <param name="robot_description" command="$(find xacro)/xacro.py $(find turtlebot_body)/urdf/$(arg model)" />
+    <param name="use_gui" value="$(arg gui)"/>
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_body)/launch/test.vcg" />
+</launch>

ihe_hardware/turtlebot_body/launch/test.vcg

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+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

ihe_hardware/turtlebot_body/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b turtlebot_body 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

ihe_hardware/turtlebot_body/manifest.xml

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+<package>
+  <description brief="turtlebot_body">
+
+     turtlebot_body
+
+  </description>
+  <author>linda</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/turtlebot_body</url>
+
+</package>
+
+

ihe_hardware/turtlebot_body/urdf/turtlebot_metric.urdf.xacro

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+<?xml version="1.0" ?>
+<robot name="turtlebot" 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" xmlns:xacro="http://ros.org/wiki/xacro">
+  <include filename="$(find turtlebot_body)/urdf/turtlebot_metric.xacro"/>
+  <turtlebot_body/>
+</robot>