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Added Ordoid 'Bag' in URDF..

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-27 12:48:03 +03:00
parent f49969a5d1
commit c333d67106
5 changed files with 286 additions and 0 deletions
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160
nao_dcm_common/nao_dcm_description/meshes/odroid.dae Normal file
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nao_dcm_common/nao_dcm_description/meshes/odroid_bag.dae Normal file
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55
nao_dcm_common/nao_dcm_description/urdf/modules/odroid_bag.xacro Normal file
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@ -0,0 +1,55 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- XACRO MACROS FOR VISUALS AND COLLISIONS -->
<xacro:macro name="visuals_collisions_odroid_bag" params="">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid_bag.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid_bag.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:macro>
<xacro:macro name="visuals_collisions_odroid" params="">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://nao_dcm_description/meshes/odroid.dae" scale="${scale} ${scale} ${scale}"/>
</geometry>
<material name="LightGrey"/>
</collision>
</xacro:macro>
<!-- ODROID BAG JOINTS/LINKS -->
<joint name="torso-odroid" type="fixed">
<parent link="torso"/>
<child link="odroid_bag"/>
<origin xyz="-0.045 0 0.0575" rpy="0 0 0"/>
</joint>
<link name="odroid_bag">
<xacro:visuals_collisions_odroid_bag/>
</link>
<joint name="bag-odroid" type="fixed">
<parent link="odroid_bag"/>
<child link="odroid"/>
<origin xyz="-0.014 -0.0055 -0.0052" rpy="0 0 ${PI_2}" />
</joint>
<link name="odroid">
<xacro:visuals_collisions_odroid/>
</link>
</robot>

5
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H21.xacro
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@ -9,6 +9,7 @@
<xacro:property name="nao_meshes" value="true" />
<xacro:property name="use_helmet" value="true" />
<xacro:property name="helmet_cameras_viz" value="false" />
<xacro:property name="use_odroid" value="true" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
@ -28,4 +29,8 @@
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
</xacro:if>
<xacro:if value="${use_odroid}">
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/odroid_bag.xacro" />
</xacro:if>
</robot>

5
nao_dcm_common/nao_dcm_description/urdf/nao_dcm_H25.xacro
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@ -9,6 +9,7 @@
<xacro:property name="nao_meshes" value="true" />
<xacro:property name="use_helmet" value="true" />
<xacro:property name="helmet_cameras_viz" value="false" />
<xacro:property name="use_odroid" value="true" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_visuals_collisions.xacro" />
<xacro:include filename="$(find nao_dcm_description)/urdf/nao_dcm_gazebo.xacro" />
@ -28,4 +29,8 @@
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/helmet_cameras.xacro" />
</xacro:if>
<xacro:if value="${use_odroid}">
<xacro:include filename="$(find nao_dcm_description)/urdf/modules/odroid_bag.xacro" />
</xacro:if>
</robot>