From ee6f0a6ef4e0e36684ebf0bbb8663d40fbacdbda Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 28 Feb 2019 19:34:36 +0100
Subject: [PATCH] Update launch files. Moved xacro to include
---
config/hokuyo_utm30lx.yaml | 20 --------------
launch/description.launch | 36 +++++++++++++++++++++++++
package.xml | 2 ++
urdf/helena.xacro | 4 +--
urdf/{ => include}/helena_sensors.xacro | 4 +--
5 files changed, 42 insertions(+), 24 deletions(-)
delete mode 100644 config/hokuyo_utm30lx.yaml
create mode 100644 launch/description.launch
rename urdf/{ => include}/helena_sensors.xacro (93%)
diff --git a/config/hokuyo_utm30lx.yaml b/config/hokuyo_utm30lx.yaml
deleted file mode 100644
index 43feaef..0000000
--- a/config/hokuyo_utm30lx.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-pose_x: 0
-pose_y: 0
-pose_z: 0
-pose_roll: 0
-pose_pitch: 0
-pose_yaw: 0
-visualize: false
-update_rate: 40
-samples: 1080
-resolution: 1
-min_angle: -2.36
-max_angle: 2.36
-range_min: 0.10
-range_max: 30.0
-range_resolution: 0.01
-noise_type: 'gaussian'
-noise_mean: 0.0
-noise_stddev: 0.01
-topic_name: 'scan'
-frame_name: 'scan_frame'
\ No newline at end of file
diff --git a/launch/description.launch b/launch/description.launch
new file mode 100644
index 0000000..519a484
--- /dev/null
+++ b/launch/description.launch
@@ -0,0 +1,36 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="helena"/>
+ <arg name="model" default="helena"/>
+ <arg name="static_wheels" default="false" />
+
+ <group ns="$(arg ns)">
+
+ <param name="robot_description"
+ command="$(find xacro)/xacro --inorder '$(find iri_helena_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
+
+ <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+ <param name="tf_prefix" type="string" value="/$(arg ns)"/>
+ <param name="publish_frequency" type="double" value="20.0"/>
+ </node>
+
+ <!--
+ <node pkg="joint_state_publisher"
+ type="joint_state_publisher"
+ name="joint_state_publisher">
+ <param name="use_gui" value="true"/>
+ <remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
+ <remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
+ </node>
+ -->
+
+ </group>
+
+ <group if="$(arg static_wheels)">
+ <include file="$(find iri_pioneer3_description)/launch/wheel_static_transform.launch">
+ <arg name="ns" value="$(arg ns)"/>
+ </include>
+ </group>
+
+</launch>
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 1b35fee..20e5a09 100644
--- a/package.xml
+++ b/package.xml
@@ -49,6 +49,8 @@
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>robot_state_publisher</exec_depend>
+ <exec_depend>xacro</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
diff --git a/urdf/helena.xacro b/urdf/helena.xacro
index 6538443..b3def2e 100644
--- a/urdf/helena.xacro
+++ b/urdf/helena.xacro
@@ -4,8 +4,8 @@
<xacro:arg name="name" default="helena"/>
- <xacro:include filename="$(find iri_pioneer3_description)/urdf/pioneer3.xacro" />
- <xacro:include filename="$(find iri_helena_description)/urdf/helena_sensors.xacro" />
+ <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
+ <xacro:include filename="$(find iri_helena_description)/urdf/include/helena_sensors.xacro" />
<xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
</xacro:pioneer3>
diff --git a/urdf/helena_sensors.xacro b/urdf/include/helena_sensors.xacro
similarity index 93%
rename from urdf/helena_sensors.xacro
rename to urdf/include/helena_sensors.xacro
index 31e1fd3..9c5e79e 100644
--- a/urdf/helena_sensors.xacro
+++ b/urdf/include/helena_sensors.xacro
@@ -41,11 +41,11 @@
<xacro:insert_block name="origin" />
</joint>
- <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+ <xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/rear_hokuyo_utm30lx.yaml">
<origin xyz="0.13121 -0.18921 0.063" rpy="0 0 -0.785" />
</xacro:hokuyo_laser2d>
- <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_description)/config/hokuyo_utm30lx.yaml">
+ <xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/front_hokuyo_utm30lx.yaml">
<origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
</xacro:hokuyo_laser2d>
--
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