diff --git a/bioloid_apps/launch/ceabot/ceabot_obstacles.launch b/bioloid_apps/launch/ceabot/ceabot_obstacles.launch
new file mode 100644
index 0000000000000000000000000000000000000000..21604b582f4fb708bc2a54aca6a15cd6d0110189
--- /dev/null
+++ b/bioloid_apps/launch/ceabot/ceabot_obstacles.launch
@@ -0,0 +1,14 @@
+<launch>
+
+ <arg name="robot" default="bioloid_ceabot" />
+ <arg name="environment" default="obstacles_env" />
+
+ <include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find bioloid_description)/launch/obstacles_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+</launch>
+
diff --git a/bioloid_apps/launch/ceabot/ceabot_stairs.launch b/bioloid_apps/launch/ceabot/ceabot_stairs.launch
new file mode 100644
index 0000000000000000000000000000000000000000..1be78f9b19053f2c7c53f7d739a3b8de4e4eb4a1
--- /dev/null
+++ b/bioloid_apps/launch/ceabot/ceabot_stairs.launch
@@ -0,0 +1,14 @@
+<launch>
+
+ <arg name="robot" default="bioloid_ceabot" />
+ <arg name="environment" default="stairs_env" />
+
+ <include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find bioloid_description)/launch/stairs_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+</launch>
+
diff --git a/bioloid_apps/launch/ceabot/ceabot_vision.launch b/bioloid_apps/launch/ceabot/ceabot_vision.launch
new file mode 100644
index 0000000000000000000000000000000000000000..259224417de1886b35caaf27e9e5ea26a4aa1f46
--- /dev/null
+++ b/bioloid_apps/launch/ceabot/ceabot_vision.launch
@@ -0,0 +1,14 @@
+<launch>
+
+ <arg name="robot" default="bioloid_ceabot" />
+ <arg name="environment" default="vision_env" />
+
+ <include file="$(find bioloid_apps)/launch/ceabot/ceabot_base.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <include file="$(find bioloid_description)/launch/vision_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+</launch>
+
diff --git a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
index 842f5c4221db4a8330879a0cbc8b8eac871e19c5..5832179e9cbb5514db3b2b0948db9a30583da7a7 100644
--- a/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
+++ b/bioloid_controller_cm510/include/bioloid_controller_cm510_impl.h
@@ -323,10 +323,7 @@ namespace bioloid_controller_cm510
user_init();
manager_init(num_servos);
if(exp_board_id!=-1)
- {
- std::cout << "init exp board" << std::endl;
exp_board_init(exp_board_id);
- }
first=false;
}
diff --git a/bioloid_description/launch/obstacles_env.launch b/bioloid_description/launch/obstacles_env.launch
new file mode 100644
index 0000000000000000000000000000000000000000..bad6c25b04176744789cdb833d14a4f8279f47eb
--- /dev/null
+++ b/bioloid_description/launch/obstacles_env.launch
@@ -0,0 +1,10 @@
+<launch>
+ <arg name="environment" default="obstacles_env" />
+
+ <!-- Convert an xacro and put on parameter server -->
+ <param name="obstacles_environment"
+ command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+
+ <node name="spawn_obstacles" pkg="gazebo_ros" type="spawn_model" args="-param obstacles_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
+
+</launch>
diff --git a/bioloid_description/launch/stairs_env.launch b/bioloid_description/launch/stairs_env.launch
new file mode 100644
index 0000000000000000000000000000000000000000..d89ceb016ea0fc1b8f93812562e892c88608cbf7
--- /dev/null
+++ b/bioloid_description/launch/stairs_env.launch
@@ -0,0 +1,10 @@
+<launch>
+ <arg name="environment" default="stairs_env" />
+
+ <!-- Convert an xacro and put on parameter server -->
+ <param name="stairs_environment"
+ command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+
+ <node name="spawn_stairs" pkg="gazebo_ros" type="spawn_model" args="-param stairs_environment -urdf -model obstacles -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
+
+</launch>
diff --git a/bioloid_description/launch/vision_env.launch b/bioloid_description/launch/vision_env.launch
new file mode 100644
index 0000000000000000000000000000000000000000..240ff829877c7a07a7019e8dc3dbde33eb9e29a5
--- /dev/null
+++ b/bioloid_description/launch/vision_env.launch
@@ -0,0 +1,10 @@
+<launch>
+ <arg name="environment" default="vision_env" />
+
+ <!-- Convert an xacro and put on parameter server -->
+ <param name="vision_environment"
+ command="$(find xacro)/xacro.py '$(find bioloid_description)/urdf/ceabot/$(arg environment).xacro'" />
+
+ <node name="spawn_vision" pkg="gazebo_ros" type="spawn_model" args="-param vision_environment -urdf -model obstacles -x 1.0 -y 1.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
+
+</launch>
diff --git a/bioloid_description/meshes/ceabot/obstacle.stl b/bioloid_description/meshes/ceabot/obstacle.stl
new file mode 100644
index 0000000000000000000000000000000000000000..cf09db88401d7768b9102dd2fe6b08dd022cf2a9
Binary files /dev/null and b/bioloid_description/meshes/ceabot/obstacle.stl differ
diff --git a/bioloid_description/meshes/ceabot/obstacle_base.stl b/bioloid_description/meshes/ceabot/obstacle_base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5e4201a1fad89723dce5d1b6f264d684199db576
Binary files /dev/null and b/bioloid_description/meshes/ceabot/obstacle_base.stl differ
diff --git a/bioloid_description/meshes/ceabot/stairs.stl b/bioloid_description/meshes/ceabot/stairs.stl
new file mode 100644
index 0000000000000000000000000000000000000000..db45f435c99a1859e87f9b24f32ff9504ba34e36
Binary files /dev/null and b/bioloid_description/meshes/ceabot/stairs.stl differ
diff --git a/bioloid_description/package.xml b/bioloid_description/package.xml
index b76f707dac48a474663f33384ef3972aaa366250..876f601258eec73f4503e49bea7d50b46e2872f1 100644
--- a/bioloid_description/package.xml
+++ b/bioloid_description/package.xml
@@ -50,4 +50,4 @@
<!-- Other tools can request additional information be placed here -->
</export>
-</package>
\ No newline at end of file
+</package>
diff --git a/bioloid_description/urdf/bioloid_ceabot.xacro b/bioloid_description/urdf/bioloid_ceabot.xacro
index 4ebc23b3caab5031840ec1cd00b06fbf03eb1743..a8759f6afe2fd89546ce02424751eb9ddb772659 100755
--- a/bioloid_description/urdf/bioloid_ceabot.xacro
+++ b/bioloid_description/urdf/bioloid_ceabot.xacro
@@ -1,8 +1,8 @@
<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find bioloid_description)/urdf/bioloid.xacro" />
- <xacro:include filename="$(find bioloid_description)/urdf/sharp_ir.xacro" />
- <xacro:include filename="$(find bioloid_description)/urdf/feet_ir.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/sensors/feet_ir.xacro" />
<xacro:sharp_ir name="IR1" parent="base_link" update_rate="20" fov="0.05" min_range="0.1" max_range="0.8">
<origin xyz="0 0.0 0.035" rpy="-1.5707 -1.5707 0" />
diff --git a/bioloid_description/urdf/ceabot/obstacle.xacro b/bioloid_description/urdf/ceabot/obstacle.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..e16aea1bb245f94872790eb6c515fc5af9ac78dd
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/obstacle.xacro
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+
+ <xacro:macro name="obstacle" params="name parent grid_x grid_y north_code south_code east_code west_code">
+ <!-- obstacle -->
+ <link name="${name}_link">
+ <inertial>
+ <mass value="2"/>
+ <origin xyz="0.0 0.25 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.05208333" ixy="0.0" ixz="0.0" iyy="0.02083333" iyz="0.0" izz="0.17708333" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_joint" type="fixed">
+ <origin xyz="${grid_x*0.25+0.13} ${grid_y*0.25+0.63} 0" rpy="1.5707 0 0"/>
+ <parent link="${parent}_link"/>
+ <child link="${name}_link"/>
+ </joint>
+
+ <xacro:qrcode name="${name}_north" parent="${name}" code="${north_code}">
+ <origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_south" parent="${name}" code="${south_code}">
+ <origin xyz="0.0 0.375 -0.126" rpy="-1.5707 0 0" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_west" parent="${name}" code="${west_code}">
+ <origin xyz="0.126 0.375 0" rpy="3.14159 0 1.5707" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_east" parent="${name}" code="${east_code}">
+ <origin xyz="-0.126 0.375 0.0" rpy="3.14159 0 -1.5707" />
+ </xacro:qrcode>-->
+
+ <gazebo reference="${name}_link">
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/bioloid_description/urdf/ceabot/obstacle_base.xacro b/bioloid_description/urdf/ceabot/obstacle_base.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..dc2d4e56d6f33864394a23bba460b0971f16083e
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/obstacle_base.xacro
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="obstacle_base" params="name">
+ <!-- IR distance sensors -->
+ <link name="${name}_link">
+ <inertial>
+ <mass value="50"/>
+ <origin xyz="1.01500000 1.26500000 0.04510729" rpy="0 0 0"/>
+ <inertia ixx="32.72577613" ixy="0.0" ixz="0.0" iyy="22.18978101" iyz="0.0" izz="53.20566219" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle_base.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle_base.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo>
+ <static>1</static>
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/bioloid_description/urdf/ceabot/obstacle_vis.xacro b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..7a3bcdf3b6d68014be26e21ac159dc5e549d5c74
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/obstacle_vis.xacro
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+
+ <xacro:macro name="obstacle_vis" params="name parent center_x center_y distance angle cosine sine code">
+ <!-- obstacle -->
+ <link name="${name}_link">
+ <inertial>
+ <mass value="2"/>
+ <origin xyz="0.0 0.25 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.05208333" ixy="0.0" ixz="0.0" iyy="0.02083333" iyz="0.0" izz="0.17708333" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/obstacle.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_joint" type="fixed">
+ <origin xyz="${center_x+distance*sine} ${center_y+distance*cosine} 0" rpy="1.5707 0 ${-angle}"/>
+ <parent link="${parent}_link"/>
+ <child link="${name}_link"/>
+ </joint>
+
+ <xacro:qrcode name="${name}_code" parent="${name}" code="${code}">
+ <origin xyz="0.0 0.375 0.126" rpy="1.5707 0 0" />
+ </xacro:qrcode>
+
+ <gazebo reference="${name}_link">
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/bioloid_description/urdf/ceabot/obstacles_env.xacro b/bioloid_description/urdf/ceabot/obstacles_env.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..61f7c2fd2f566cc1e8d29844c9dab5b6b005b38a
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/obstacles_env.xacro
@@ -0,0 +1,72 @@
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+
+ <xacro:obstacle_base name="obstacle_base"/>
+ <xacro:obstacle name="obstacle1" parent="obstacle_base" grid_x="0" grid_y="0" north_code="N1" south_code="S1" east_code="E1" west_code="W1"/>
+ <xacro:obstacle name="obstacle2" parent="obstacle_base" grid_x="1" grid_y="1" north_code="N2" south_code="S2" east_code="E2" west_code="W2"/>
+ <xacro:obstacle name="obstacle3" parent="obstacle_base" grid_x="2" grid_y="2" north_code="N3" south_code="S3" east_code="E3" west_code="W3"/>
+ <xacro:obstacle name="obstacle4" parent="obstacle_base" grid_x="3" grid_y="3" north_code="N4" south_code="S4" east_code="E4" west_code="W4"/>
+ <xacro:obstacle name="obstacle5" parent="obstacle_base" grid_x="4" grid_y="4" north_code="N5" south_code="S5" east_code="E5" west_code="W5"/>
+ <xacro:obstacle name="obstacle6" parent="obstacle_base" grid_x="5" grid_y="5" north_code="N6" south_code="S6" east_code="E6" west_code="W6"/>
+
+ <xacro:qrcode name="contour_west_25" parent="obstacle_base" code="W25">
+ <origin xyz="0.016 0.265 0.375" rpy="0 0 -1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_west_75" parent="obstacle_base" code="W75">
+ <origin xyz="0.016 0.765 0.375" rpy="0 0 -1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_west_125" parent="obstacle_base" code="W125">
+ <origin xyz="0.016 1.265 0.375" rpy="0 0 -1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_west_175" parent="obstacle_base" code="W175">
+ <origin xyz="0.016 1.765 0.375" rpy="0 0 -1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_west_225" parent="obstacle_base" code="W225">
+ <origin xyz="0.016 2.265 0.375" rpy="0 0 -1.5707" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="contour_east_25" parent="obstacle_base" code="W25">
+ <origin xyz="1.999 0.265 0.375" rpy="0 0 1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_east_75" parent="obstacle_base" code="W75">
+ <origin xyz="1.999 0.765 0.375" rpy="0 0 1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_east_125" parent="obstacle_base" code="W125">
+ <origin xyz="1.999 1.265 0.375" rpy="0 0 1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_east_175" parent="obstacle_base" code="W175">
+ <origin xyz="1.999 1.765 0.375" rpy="0 0 1.5707" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_east_225" parent="obstacle_base" code="W225">
+ <origin xyz="1.999 2.265 0.375" rpy="0 0 1.5707" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="contour_north_25" parent="obstacle_base" code="N25">
+ <origin xyz="0.265 2.514 0.375" rpy="0 0 3.14159" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_north_75" parent="obstacle_base" code="N75">
+ <origin xyz="0.765 2.514 0.375" rpy="0 0 3.14159" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_north_125" parent="obstacle_base" code="N125">
+ <origin xyz="1.265 2.514 0.375" rpy="0 0 3.14159" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_north_175" parent="obstacle_base" code="N175">
+ <origin xyz="1.765 2.514 0.375" rpy="0 0 3.14159" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="contour_south_25" parent="obstacle_base" code="S25">
+ <origin xyz="0.265 0.016 0.375" rpy="0 0 0" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_south_75" parent="obstacle_base" code="S75">
+ <origin xyz="0.765 0.016 0.375" rpy="0 0 0" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_south_125" parent="obstacle_base" code="S125">
+ <origin xyz="1.265 0.016 0.375" rpy="0 0 0" />
+ </xacro:qrcode>
+ <xacro:qrcode name="contour_south_175" parent="obstacle_base" code="S175">
+ <origin xyz="1.765 0.016 0.375" rpy="0 0 0" />
+ </xacro:qrcode>
+</robot>
diff --git a/bioloid_description/urdf/ceabot/stairs.xacro b/bioloid_description/urdf/ceabot/stairs.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..f2b319fe8a5308af44faa5867d8b22ee6de23a36
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/stairs.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="stairs" params="name parent orientation">
+ <!-- obstacle -->
+ <link name="${name}_link">
+ <inertial>
+ <mass value="2"/>
+ <origin xyz="0.0 0.25 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.05208333" ixy="0.0" ixz="0.0" iyy="0.02083333" iyz="0.0" izz="0.17708333" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/stairs.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/meshes/ceabot/stairs.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_joint" type="fixed">
+ <origin xyz="1.0 1.25 0" rpy="0 0 ${orientation}"/>
+ <parent link="${parent}_link"/>
+ <child link="${name}_link"/>
+ </joint>
+
+ <gazebo reference="${name}_link">
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/bioloid_description/urdf/ceabot/stairs_env.xacro b/bioloid_description/urdf/ceabot/stairs_env.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..3ee047e5401154f6fc51ace5d01e0b5efcb7cac6
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/stairs_env.xacro
@@ -0,0 +1,9 @@
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/stairs.xacro" />
+
+ <xacro:obstacle_base name="obstacle_base"/>
+ <xacro:stairs name="srairs" parent="obstacle_base" orientation="0"/>
+
+</robot>
diff --git a/bioloid_description/urdf/ceabot/vision_env.xacro b/bioloid_description/urdf/ceabot/vision_env.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..32191c8232d067d6d0556ebe6af687ceed7f65a3
--- /dev/null
+++ b/bioloid_description/urdf/ceabot/vision_env.xacro
@@ -0,0 +1,16 @@
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_vis.xacro" />
+
+ <xacro:obstacle_base name="obstacle_base"/>
+ <!-- 0 45 90 135 180 225 270 315 -->
+ <!-- cosine: 1 0.707 0 -0.707 -1 -0.707 0 0.707 -->
+ <!-- sine: 0 0.707 1 0.707 0 -0.707 -1 -0.707 -->
+ <xacro:obstacle_vis name="obstacle1" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0" cosine="1" sine="0" code="N1"/>
+ <xacro:obstacle_vis name="obstacle2" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="0.79" cosine="0.707" sine="0.707" code="N1"/>
+ <xacro:obstacle_vis name="obstacle3" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.14159" cosine="-1" sine="0" code="N1"/>
+ <xacro:obstacle_vis name="obstacle4" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="3.93" cosine="-0.707" sine="0.707" code="N1"/>
+ <xacro:obstacle_vis name="obstacle5" parent="obstacle_base" center_x="1.015" center_y="1.265" distance="0.75" angle="4.71" cosine="0" sine="-1" code="N1"/>
+
+</robot>
diff --git a/bioloid_description/urdf/qrcodes/E1.dae b/bioloid_description/urdf/qrcodes/E1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..92b8ab17f58c87d9a9128cec0108ff0e87e0ec9b
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/E1.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>E1.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
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+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
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+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
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+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
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+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
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+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
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+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
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+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
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+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/E1.png b/bioloid_description/urdf/qrcodes/E1.png
new file mode 100644
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diff --git a/bioloid_description/urdf/qrcodes/E125.dae b/bioloid_description/urdf/qrcodes/E125.dae
new file mode 100644
index 0000000000000000000000000000000000000000..ccc645dec0eb9b707fbebd691e64a72f27587062
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/E125.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>E125.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
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+ <texture texture="Map #1-image" texcoord="CHANNEL0">
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+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
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+ </profile_COMMON>
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+ </library_geometries>
+ <library_visual_scenes>
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new file mode 100644
index 0000000000000000000000000000000000000000..8d462830dba23a1d314d323e26b63a06924930e0
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/E175.dae
@@ -0,0 +1,122 @@
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+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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new file mode 100644
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--- /dev/null
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+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
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+ <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
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+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
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+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
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+ </technique_common>
+ </source>
+ <source id="QR_Code-Normal0">
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+ <technique_common>
+ <accessor source="#QR_Code-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
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+ </technique_common>
+ </source>
+ <source id="QR_Code-UV0">
+ <float_array id="QR_Code-UV0-array" count="8">
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+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+ <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/qrcode.xacro b/bioloid_description/urdf/qrcodes/qrcode.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..dd4c4f7be017ca61a5e0128ddf3bb9c558c51aeb
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/qrcode.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="qrcode" params="name parent code *origin">
+ <!-- obstacle -->
+ <link name="${name}_${code}_link">
+ <inertial>
+ <mass value="0.001"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${code}_joint" type="fixed">
+ <xacro:insert_block name="origin" />
+ <parent link="${parent}_link"/>
+ <child link="${name}_${code}_link"/>
+ </joint>
+
+ <gazebo reference="${name}_{code}_link">
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/bioloid_description/urdf/qrcodes/turn_left_135.dae b/bioloid_description/urdf/qrcodes/turn_left_135.dae
new file mode 100644
index 0000000000000000000000000000000000000000..ee2afefd3d02090787595fb58c697230e2fdb8f5
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/turn_left_135.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>turn_left_135.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2.000000</float>
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+ <reflective>
+ <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
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+ <reflectivity>
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+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
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+ <accessor source="#QR_Code-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
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+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
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+ </accessor>
+ </technique_common>
+ </source>
+ <source id="QR_Code-UV0">
+ <float_array id="QR_Code-UV0-array" count="8">
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+0.999501 0.999500
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+ <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/turn_left_135.png b/bioloid_description/urdf/qrcodes/turn_left_135.png
new file mode 100644
index 0000000000000000000000000000000000000000..08a3607dcbafec436aadb58cd8110dbe883ca3b8
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diff --git a/bioloid_description/urdf/qrcodes/turn_left_180.dae b/bioloid_description/urdf/qrcodes/turn_left_180.dae
new file mode 100644
index 0000000000000000000000000000000000000000..379d0586ee7e76ea23275ef002d88442f2f3f1e8
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/turn_left_180.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>turn_left_180.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
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+ <float sid="transparency">0.000000</float>
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+ </profile_COMMON>
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+ </library_effects>
+ <library_geometries>
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+ <source id="QR_Code-UV0">
+ <float_array id="QR_Code-UV0-array" count="8">
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+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
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+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
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+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
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+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
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+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/turn_left_180.png b/bioloid_description/urdf/qrcodes/turn_left_180.png
new file mode 100644
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diff --git a/bioloid_description/urdf/qrcodes/turn_left_45.dae b/bioloid_description/urdf/qrcodes/turn_left_45.dae
new file mode 100644
index 0000000000000000000000000000000000000000..890955ba20bb59c7c8498a292d946146695efa06
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/turn_left_45.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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+ <library_materials>
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+ <effect id="Material #36-fx" name="Material #36">
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+ <wrapU sid="wrapU0">TRUE</wrapU>
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+0.000499 0.000500
+0.999500 0.000499
+0.000500 0.999501
+0.999501 0.999500
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+ <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/turn_right_45.png b/bioloid_description/urdf/qrcodes/turn_right_45.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf896f0e9edfc4f9886300b13314a76aae4a5ad0
Binary files /dev/null and b/bioloid_description/urdf/qrcodes/turn_right_45.png differ
diff --git a/bioloid_description/urdf/qrcodes/turn_right_90.dae b/bioloid_description/urdf/qrcodes/turn_right_90.dae
new file mode 100644
index 0000000000000000000000000000000000000000..5cb87506d5714ab41ac948143472801ba65748a1
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/turn_right_90.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>turn_right_90.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0.588000 0.588000 0.588000 1.000000</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2.000000</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1.000000</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
+-3.149606 -3.149606 0.000000
+3.149606 -3.149606 0.000000
+-3.149606 3.149606 0.000000
+3.149606 3.149606 0.000000
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="QR_Code-Normal0">
+ <float_array id="QR_Code-Normal0-array" count="18">
+0.000000 0.000000 1.000000
+0.000000 0.000000 1.000000
+0.000000 0.000000 1.000000
+0.000000 0.000000 1.000000
+0.000000 0.000000 1.000000
+0.000000 0.000000 1.000000
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="QR_Code-UV0">
+ <float_array id="QR_Code-UV0-array" count="8">
+0.000499 0.000500
+0.999500 0.000499
+0.000500 0.999501
+0.999501 0.999500
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+ <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/turn_right_90.png b/bioloid_description/urdf/qrcodes/turn_right_90.png
new file mode 100644
index 0000000000000000000000000000000000000000..317a61d47952c8b5335be558c5aa308d8e579612
Binary files /dev/null and b/bioloid_description/urdf/qrcodes/turn_right_90.png differ
diff --git a/bioloid_description/urdf/cny70_ir.gazebo b/bioloid_description/urdf/sensors/cny70_ir.gazebo
similarity index 100%
rename from bioloid_description/urdf/cny70_ir.gazebo
rename to bioloid_description/urdf/sensors/cny70_ir.gazebo
diff --git a/bioloid_description/urdf/cny70_ir.xacro b/bioloid_description/urdf/sensors/cny70_ir.xacro
similarity index 93%
rename from bioloid_description/urdf/cny70_ir.xacro
rename to bioloid_description/urdf/sensors/cny70_ir.xacro
index a566bef1c022be53e944cf52100f9bdc77084960..94ba899ace725453d0e18e9df7efd6fca6aab23f 100644
--- a/bioloid_description/urdf/cny70_ir.xacro
+++ b/bioloid_description/urdf/sensors/cny70_ir.xacro
@@ -2,7 +2,7 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find bioloid_description)/urdf/cny70_ir.gazebo" />
+ <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.gazebo" />
<xacro:macro name="cny70_ir" params="name parent *origin update_rate fov min_range max_range">
<!-- IR distance sensors -->
diff --git a/bioloid_description/urdf/feet_ir.xacro b/bioloid_description/urdf/sensors/feet_ir.xacro
similarity index 97%
rename from bioloid_description/urdf/feet_ir.xacro
rename to bioloid_description/urdf/sensors/feet_ir.xacro
index 93ca7bc818300af66643425bfb5576a9f4d4a0cd..4e6b8dee80932ff3fbe0be5d9d8f0ebaf5901cd5 100644
--- a/bioloid_description/urdf/feet_ir.xacro
+++ b/bioloid_description/urdf/sensors/feet_ir.xacro
@@ -2,7 +2,7 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find bioloid_description)/urdf/cny70_ir.xacro" />
+ <xacro:include filename="$(find bioloid_description)/urdf/sensors/cny70_ir.xacro" />
<xacro:macro name="feet_ir" params="left_parent right_parent update_rate range">
<!-- IR distance sensors -->
diff --git a/bioloid_description/urdf/sharp_ir.gazebo b/bioloid_description/urdf/sensors/sharp_ir.gazebo
similarity index 100%
rename from bioloid_description/urdf/sharp_ir.gazebo
rename to bioloid_description/urdf/sensors/sharp_ir.gazebo
diff --git a/bioloid_description/urdf/sharp_ir.xacro b/bioloid_description/urdf/sensors/sharp_ir.xacro
similarity index 93%
rename from bioloid_description/urdf/sharp_ir.xacro
rename to bioloid_description/urdf/sensors/sharp_ir.xacro
index bfb0fa7ea84331628ed8e3d9969ad79a2e4ee6d5..611517486aab7b744ac7331d68bf2818d1de89ff 100644
--- a/bioloid_description/urdf/sharp_ir.xacro
+++ b/bioloid_description/urdf/sensors/sharp_ir.xacro
@@ -2,7 +2,7 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find bioloid_description)/urdf/sharp_ir.gazebo" />
+ <xacro:include filename="$(find bioloid_description)/urdf/sensors/sharp_ir.gazebo" />
<xacro:macro name="sharp_ir" params="name parent *origin update_rate fov min_range max_range">
<!-- IR distance sensors -->