diff --git a/README.md b/README.md
index 3c3bdab43663f70b21bf811536e937ef7ebc5f47..853a9954765e0caaaaea1e7a9741a8869d206b74 100644
--- a/README.md
+++ b/README.md
@@ -1,32 +1,15 @@
# Description
-This ROS package contains physical descriptions of the Pioneer3 platform from
-ActivMedia. The following files are provided:
-
- * Xacro macro to be included in higher level urdf or xacro files.
-
- * An example xacro file to be used as an example of use of the macro.
-
-This package also includes two launch files intended to simplify the use
-both the real and the simulated robot:
-
- * description.launch: loads the robot description with the appropiate model
-and creates an instance of the robot_state_publisher ROS node. It has two
-arguments:
-
- ** node_name: (default: pioneer3) base name given to the platform
-related nodes.
-
- ** model: (default: pioneer3_example) name of the xacro file to include.
-
- * wheel_static_transf.launch: publishes four static transforms, one for each
-of the wheels.
+This ROS package contains physical descriptions of the Pioneer3 platform from ActivMedia.
# Dependencies
This node has the following dependencies:
* [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo) (for simulation only)
+ * [robot_state_publisher](http://wiki.ros.org/robot_state_publisher)
+ * [xacro](http://wiki.ros.org/xacro)
+ * [tf](http://wiki.ros.org/tf)
# Install
@@ -45,21 +28,33 @@ rosinstall file to be used with the [wstool](http://wiki.ros.org/wstool) tool.
# How to use it
-The *pioneer3_example.xacro* file shows an example of how to include the xacro
-macro in another xacro file.
+The following files are provided:
-The main xacro macro has the following parameters:
-
- * **name:** name of the sensor used to specify the frames and joints to allow
+ * pioner3_example.xacro: an example xacro file of how to include the xacro
+macro.
+
+ * pioneer3.xacro: xacro macro to be included in higher level urdf or xacro files.
+
+ ** name: name of the robot used to specify the frames and joints to allow
multiples instances.
- * **resolution:** Specify the type of mesh to use for visualization. It can
-be either *high_res* or *low_res*.
+ ** sim_config: path and filename of the configuration file for the gazebo
+plugin. See the [iri_skid_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
+documentation for a complete description of all the parameters.
+
+This package also includes two launch files intended to simplify the use
+both the real and the simulated robot:
+
+ * description.launch: loads the robot description with the appropiate model
+and creates an instance of the robot_state_publisher ROS node. It has these
+arguments:
+
+ ** ns: (default: pioneer3) base name given to the platform
+related nodes.
+
+ ** model: (default: pioneer3_example) name of the xacro file to include.
- * **sim_config:** path and filename of the configuration file for the gazebo
-plugin. See the [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
-documentation for a complete description of all the plugin parameters.
+ ** static_wheels: (default: false) enables launching static transforms for wheel joints
-The [iri_sked_steering_gazebo](https://gitlab.iri.upc.edu/labrobotica/ros/platforms/iri_skid_steering_gazebo)
-package provides a default simulation plugin configuration file for the
-Pioneer3 platform.
+ * wheel_static_transf.launch: publishes four static transforms, one for each
+of the wheels.
\ No newline at end of file
diff --git a/package.xml b/package.xml
index c90f8878abe3fed71f66f63f62ba2a25dc799d40..75a89f1f898cf1375f66906ea1e49e0e65c4d314 100755
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
-<package>
+<package format="2">
<name>iri_pioneer3_description</name>
<version>0.1.0</version>
- <description>The iri_pioneer3_description package</description>
+ <description>ROS package with URDF and mesh files for the Pioneer3 platform.</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
@@ -25,29 +25,39 @@
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
- <author email="shernand@iri.upc.edu">Sergi Hernandez</author> -->
+ <author email="shernand@iri.upc.edu">Sergi Hernandez</author>
- <!-- The *_depend tags are used to specify dependencies -->
+ <!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use run_depend for packages you need at runtime: -->
- <!-- <run_depend>message_runtime</run_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>iri_skid_steering_gazebo</exec_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
+ <exec_depend>tf</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- You can specify that this package is a metapackage here: -->
- <!-- <metapackage/> -->
-
<!-- Other tools can request additional information be placed here -->
</export>
-</package>
+</package>
\ No newline at end of file
diff --git a/urdf/include/pioneer3.xacro b/urdf/include/pioneer3.xacro
index be05cb1d3f80f4018ff28ef4d50c9148a5f55b8a..33e634817a545746a40bca98217c9fda455c76bc 100644
--- a/urdf/include/pioneer3.xacro
+++ b/urdf/include/pioneer3.xacro
@@ -5,7 +5,7 @@
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3_wheel.xacro" />
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.gazebo" />
- <xacro:macro name="pioneer3" params="name resolution sim_config">
+ <xacro:macro name="pioneer3" params="name sim_config">
<link name="base_footprint"/>
diff --git a/urdf/pioneer3_example.xacro b/urdf/pioneer3_example.xacro
index 3873f55e2c2bed14199b0286b70ad69794f0400f..5a2508c2e613f3f5135ece594776fd2b5b3a2327 100644
--- a/urdf/pioneer3_example.xacro
+++ b/urdf/pioneer3_example.xacro
@@ -6,6 +6,6 @@
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
- <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_skid_steering_gazebo)/config/pioneer3_sim_config.yaml"/>
+ <xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_skid_steering_gazebo)/config/pioneer3_sim_config.yaml"/>
</robot>