Commit 92247876 authored by Sergi Hernandez's avatar Sergi Hernandez
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cmake_minimum_required(VERSION 2.8.3)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
# ********************************************************************
# Add catkin additional components here
# ********************************************************************
#find_package(catkin REQUIRED COMPONENTS <ROS_build_dep> <IRI_ROS_build_dep>)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
# ********************************************************************
# Add system and labrobotica dependencies here
# ********************************************************************
# find_package(<dependency> REQUIRED)
# ********************************************************************
# Add topic, service and action definition here
# ********************************************************************
## Generate messages in the 'msg' folder
# add_message_files(
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# std_msgs # Or other packages containing msgs
# )
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
# generate_dynamic_reconfigure_options(cfg/<cfg_file_name>.cfg)
# ********************************************************************
# Add run time dependencies here
# ********************************************************************
# ********************************************************************
# Add ROS and IRI ROS run time dependencies
# ********************************************************************
# ********************************************************************
# Add system and labrobotica run time dependencies here
# ********************************************************************
## Build ##
# ********************************************************************
# Add the include directories
# ********************************************************************
# include_directories(include)
# include_directories(${catkin_INCLUDE_DIRS})
# include_directories(${<dependency>_INCLUDE_DIR})
## Declare a cpp library
# add_library(${PROJECT_NAME} <list of source files>)
## Declare a cpp executable
# add_executable(${PROJECT_NAME} <list of source files>)
# ********************************************************************
# Add the libraries
# ********************************************************************
# target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARIES})
# ********************************************************************
# Add message headers dependencies
# ********************************************************************
# add_dependencies(${PROJECT_NAME} <msg_package_name>_cpp)
# ********************************************************************
# Add dynamic reconfigure dependencies
# ********************************************************************
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates
the terms and conditions of version 3 of the GNU General Public
License, supplemented by the additional permissions listed below.
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As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the GNU
General Public License.
"The Library" refers to a covered work governed by this License,
other than an Application or a Combined Work as defined below.
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Application with the Library. The particular version of the Library
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# Description
This ROS package contains the physical description of a 1:8 scale model car used for the autonomous driving competitions. This description can be used either in the real model car or in the simulated model.
# How to use it
## Installation
Move to workspace:
roscd && cd ../src
Clone the repository:
git clone
Install all ROS dependencies with the following commands:
cd ..
rosdep install -i -r --from-paths src
Compile all the ROS packages with the following commands:
## Launch
This package provides a simple launch file to display the physical description of the model car and control each of the joints using the [joint_state_publisher]( node:
roslaunch model_car_description description_test.launch
This launch file include a second launch file named *description.launch* which is intended to be included from other launch file that require the model car description. This launch file has two parameters:
* **name** (default=model_car): name of the car used as a namespace to include everything inside it.
* **sim_config_path** (default=model_car_gazebo/config): path where the simulation sensor configuration files for all sensors are located. See the [model_car_gazebo]() documentation for more details.
To include the model_car_description into an other launch file, include the following lines:
<include file="$(find model_car_description)/launch/description.launch">
<arg name="name" value="$(arg name)"/>
<arg name="sim_config_path" value="$(arg sim_config_path)"/>
# Disclaimer
Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
Mantainer IRI labrobotics (
This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair or correction.
In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <>
\ No newline at end of file
<?xml version="1.0" encoding="UTF-8"?>
<arg name="namespace" default="arm"/>
<arg name="sim_config_path" default="$(find arm_description)/config"/>
<group ns="$(arg namespace)">
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find arm_description)/urdf/arm.xacro' robot_name:=$(arg namespace) sim_config_path:=$(arg sim_config_path)" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="$(arg namespace)_tf_broadcaster">
<param name="publish_frequency" type="double" value="50.0"/>
<param name="tf_prefix" value="$(arg namespace)"/>
<remap from="/joint_states" to="/$(arg namespace)/joint_states" />
<?xml version="1.0" encoding="UTF-8"?>
<arg name="namespace" default="arm"/>
<arg name="sim_config_path" default="$(arg arm_description)/config"/>
<include file="$(find arm_description)/launch/description.launch">
<arg name="namespace" value="$(arg namespace)"/>
<arg name="sim_config_path" value="$(arg sim_config_path)"/>
<group ns="$(arg namespace)">
<node name="joint_state_publisher"
pkg ="joint_state_publisher_gui"
<remap from="/joint_states"
to="/$(arg namespace)/joint_states" />
<node name="rviz"
pkg ="rviz"
args="-d $(find arm_description)/rviz/description.rviz" />
File added
File added
File added
<?xml version="1.0"?>
<description>Description and configuration files for the MODEL car robot</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<maintainer email="">shernand</maintainer>
<maintainer email="">fherrero</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!--<url type="website"></url>-->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<author email="">shernand</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- ****************************************************************** -->
<!-- Place build dependencies here -->
<!-- ****************************************************************** -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- ****************************************************************** -->
<!-- Place run dependencies here -->
<!-- ****************************************************************** -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- The export tag contains other, unspecified, tags -->
<!-- Other tools can request additional information be placed here -->
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
Splitter Ratio: 0.5
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
toolButtonStyle: 2
Visualization Manager:
Class: ""
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Alpha: 1
Show Axes: false
Show Trail: false
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: arm/robot_description
TF Prefix: arm
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
All Enabled: true
Value: true
Value: true
Value: true
Value: true
Value: true
Marker Scale: 0.200000003
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: arm/base_footprint
Frame Rate: 30
Name: root
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Class: rviz/Orbit
Distance: 0.409323573
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 0.785398006
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006
Saved: ~
Window Geometry:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
collapsed: false
collapsed: false
Tool Properties:
collapsed: false
collapsed: false
Width: 1200
X: 65
Y: 60
<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="">
<xacro:include filename="$(find arm_gazebo)/urdf/arm.gazebo" />
<xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_camera.xacro" />
<xacro:arg name="robot_name" default="darwin"/>
<xacro:arg name="sim_config_path" default="$(find arm_description)/config"/>
<link name="base_footprint">
<joint name="base_footprint_to_base_link" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="3.14159 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
<link name="base_link">
<mass value="0.10692164" />
<origin xyz="0.00487771 -0.00001496 -0.02536500" />
<inertia ixx="0.00004424" ixy="0.00000000" ixz="0.00000000"