Added materials to the RVIZ model.

Changed the reference frames of the obstacles environment and QR codes to make them coincide with the real ones.

bioloid_description/urdf/ceabot/obstacle.xacro

@@ -16,7 +16,7 @@
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://bioloid_description/meshes/ceabot/obstacle.stl"/>
-      </geometry>
+        </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>

bioloid_description/urdf/ceabot/obstacle_base.xacro

@@ -14,6 +14,7 @@
         <geometry>
           <mesh filename="package://bioloid_description/meshes/ceabot/obstacle_base.stl"/>
         </geometry>
+        <material name="green"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -34,6 +35,7 @@
         <geometry>
           <mesh filename="package://bioloid_description/meshes/ceabot/obstacle_fence.stl"/>
         </geometry>
+        <material name="white"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>

bioloid_description/urdf/ceabot/obstacles_env.xacro

@@ -3,6 +3,7 @@
   <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+  <xacro:include filename="$(find bioloid_description)/urdf/materials.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"/>

bioloid_description/urdf/ceabot/obstacles_env_empty.xacro

@@ -3,64 +3,65 @@
   <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle.xacro" />
   <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+  <xacro:include filename="$(find bioloid_description)/urdf/materials.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" />
+    <origin xyz="0.016 0.265 0.375" rpy="0 -1.5707 0" />
   </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" />
+    <origin xyz="0.016 0.765 0.375" rpy="0 -1.5707 0" />
   </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" />
+    <origin xyz="0.016 1.265 0.375" rpy="0 -1.5707 0" />
   </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" />
+    <origin xyz="0.016 1.765 0.375" rpy="0 -1.5707 0" />
   </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" />
+    <origin xyz="0.016 2.265 0.375" rpy="0 -1.5707 0" />
   </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 name="contour_east_25" parent="obstacle_base" code="E25">
+    <origin xyz="1.999 0.265 0.375" rpy="3.14159 -1.5707 0" />
   </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 name="contour_east_75" parent="obstacle_base" code="E75">
+    <origin xyz="1.999 0.765 0.375" rpy="3.14159 -1.5707 0" />
   </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 name="contour_east_125" parent="obstacle_base" code="E125">
+    <origin xyz="1.999 1.265 0.375" rpy="3.14159 -1.5707 0" />
   </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 name="contour_east_175" parent="obstacle_base" code="E175">
+    <origin xyz="1.999 1.765 0.375" rpy="3.14159 -1.5707 0" />
   </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 name="contour_east_225" parent="obstacle_base" code="E225">
+    <origin xyz="1.999 2.265 0.375" rpy="3.14159 -1.5707 0" />
   </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" />
+    <origin xyz="0.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
   </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" />
+    <origin xyz="0.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
   </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" />
+    <origin xyz="1.265 2.514 0.375" rpy="-1.5707 -1.5707 0" />
   </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" />
+    <origin xyz="1.765 2.514 0.375" rpy="-1.5707 -1.5707 0" />
   </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" />
+    <origin xyz="0.265 0.016 0.375" rpy="1.5707 -1.5707 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" />
+    <origin xyz="0.765 0.016 0.375" rpy="1.5707 -1.5707 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" />
+    <origin xyz="1.265 0.016 0.375" rpy="1.5707 -1.5707 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" />
+    <origin xyz="1.765 0.016 0.375" rpy="1.5707 -1.5707 0" />
   </xacro:qrcode>
 </robot>

bioloid_description/urdf/qrcodes/qrcode.xacro

@@ -4,22 +4,22 @@
 
   <xacro:macro name="qrcode" params="name parent code *origin">
     <!-- obstacle -->
-    <link name="${name}_${code}_link">
+    <link name="${code}">
       <inertial>
         <mass value="0.001"/>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
         <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="0 0 0" rpy="-1.5707 0 1.5707"/>
         <geometry>
-          <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae"/>
+          <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="0.725 0.725 0.725"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="0 0 0" rpy="-1.5707 0 1.5707"/>
         <geometry>
-          <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae"/>
+          <mesh filename="package://bioloid_description/urdf/qrcodes/${code}.dae" scale="0.725 0.725 0.725"/>
         </geometry>
       </collision>
     </link>
@@ -27,10 +27,10 @@
     <joint name="${name}_${code}_joint" type="fixed">
       <xacro:insert_block name="origin" />
       <parent link="${parent}_link"/>
-      <child link="${name}_${code}_link"/>
+      <child link="${code}"/>
     </joint>
 
-    <gazebo reference="${name}_{code}_link">
+    <gazebo reference="${code}">
     </gazebo>
   </xacro:macro>
 </root>