From 3dbdf6a74a17a13fdf9dfc14a04e17d109151ce8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu> Date: Wed, 14 Sep 2016 00:30:34 +0200 Subject: [PATCH] Added an environment without obstacles. --- .../urdf/ceabot/obstacles_env_empty.xacro | 66 +++++++++++++++++++ 1 file changed, 66 insertions(+) create mode 100755 bioloid_description/urdf/ceabot/obstacles_env_empty.xacro diff --git a/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro new file mode 100755 index 0000000..268ddb8 --- /dev/null +++ b/bioloid_description/urdf/ceabot/obstacles_env_empty.xacro @@ -0,0 +1,66 @@ +<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: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> -- GitLab