Skip to content
Snippets Groups Projects
Commit 5809b602 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Initial commit

parents
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
CMakeLists.txt 0 → 100644
+ 195
− 0
View file @ 5809b602
cmake_minimum_required(VERSION 2.8.3)
project(iri_rplidar_laser2d_description)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES iri_rplidar_laser2d_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/iri_rplidar_laser2d_description.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/iri_rplidar_laser2d_description_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_iri_rplidar_laser2d_description.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
meshes/rplidar_a2.stl 0 → 100644
+ 0
− 0
View file @ 5809b602
File added
package.xml 0 → 100644
+ 60
− 0
View file @ 5809b602
<?xml version="1.0"?>
<package format="2">
<name>iri_rplidar_laser2d_description</name>
<version>0.0.0</version>
<description>The iri_rplidar_laser2d_description package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="labrobotica@iri.upc.edu">labrobotica</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 -->
<license>LGPL</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/iri_rplidar_laser2d_description</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<author email="shernand@iri.upc.edu">Sergi Heranndez Juan</author> -->
<!-- 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 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>
<depend>iri_laser2d_gazebo</depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
urdf/rplidar_laser2d.xacro 0 → 100644
+ 60
− 0
View file @ 5809b602
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_laser2d_gazebo)/urdf/laser2d.gazebo" />
<xacro:property name="default_config" value="$(find iri_laser2d_gazebo)/config/rplidar_a2.yaml"/>
<xacro:macro name="rplidar_laser2d"
params="name:=main
prefix:=robot
parent:=base
config_file:=${default_config}
*origin">
<link name="${name}_rplidar_base">
<inertial>
<mass value="0.37000000" />
<origin xyz="0.0000000 0.0000000 -0.01040000" rpy="0 0 0"/>
<inertia ixx="0.0009124" ixy="0.0" ixz="0.0"
iyy="0.0009124" iyz="0.0"
izz="0.0013154" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iri_rplidar_laser2d_description/meshes/rplidar_a2.stl"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iri_rplidar_laser2d_description/meshes/rplidar_a2.stl"/>
</geometry>
</collision>
</link>
<joint name="joint_${parent}_to_${name}_rplidar_laser2d_base" type="fixed" >
<parent link="${parent}"/>
<child link="${name}_rplidar_base"/>
<xacro:insert_block name="origin" />
</joint>
<link name="${name}_rplidar_scan_frame">
</link>
<joint name="joint_${name}_rplidar_base_to_${name}_rplidar_scan_frame" type="fixed" >
<parent link="${name}_rplidar_base"/>
<child link="${name}_rplidar_scan_frame"/>
<origin xyz="0.0 0.0 0.031" rpy="0 0 0" />
</joint>
<xacro:iri_laser2d_gazebo name="${name}_rplidar" prefix="${prefix}" frame_id="${name}_rplidar_scan_frame" config_file="${config_file}"/>
</xacro:macro>
</root>
urdf/rplidar_laser2d_example.xacro 0 → 100644
+ 34
− 0
View file @ 5809b602
<?xml version="1.0"?>
<robot name="rplidar_laser2d" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_rplidar_laser2d_description)/urdf/rplidar_laser2d.xacro" />
<link name="rplidar_base" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 1.0"/>
</geometry>
<material name="Grey">
<color rgba="0.79 0.82 0.93 1.0"/>
</material>
</visual>
<inertial>
<mass value="1.0" />
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="1.0 1.0 1.0"/>
</geometry>
</collision>
</link>
<xacro:rplidar_laser2d name="top" prefix="robot" parent="rplidar_base">
<origin xyz="0.0 0.0 0.5" rpy="0 0 0" />
</xacro:rplidar_laser2d>
</robot>
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment