Initial commit

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(iri_adc_description)
+
+## 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(
+#   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
+# )
+
+# ******************************************************************** 
+#                 Add the dynamic reconfigure file 
+# ******************************************************************** 
+# generate_dynamic_reconfigure_options(cfg/<cfg_file_name>.cfg)
+
+# ******************************************************************** 
+#                 Add run time dependencies here
+# ******************************************************************** 
+catkin_package(
+#  INCLUDE_DIRS 
+#  LIBRARIES 
+# ******************************************************************** 
+#            Add ROS and IRI ROS run time dependencies
+# ******************************************************************** 
+#  CATKIN_DEPENDS 
+# ******************************************************************** 
+#      Add system and labrobotica run time dependencies here
+# ******************************************************************** 
+#  DEPENDS 
+)
+
+###########
+## 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 
+# ******************************************************************** 
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})

LICENSE

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ 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.
+
+  0. Additional Definitions.
+
+  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.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
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+a header file that is part of the Library.  You may convey such object
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+(ten or fewer lines in length), you do both of the following:
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+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
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+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
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+the following:
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+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
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+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
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+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
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+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
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+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
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+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
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+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.md

+# 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 https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/iri_adc_description.git
+```
+
+Install all ROS dependencies with the following commands:
+```
+roscd
+cd ..
+rosdep install -i -r --from-paths src
+```
+
+Compile all the ROS packages with the following commands:
+```
+catkin_make
+```
+
+## 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](http://wiki.ros.org/joint_state_publisher) node:
+```
+roslaunch iri_adc_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=iri_model_car_gazebo/config): path where the simulation sensor configuration files for all sensors are located. See the [iri_model_car_gazebo](https://gitlab.iri.upc.edu/mobile_robotics/adc/platform/model_car/simulator/iri_model_car_gazebo) documentation for more details.
+
+To include the iri_adc_description into an other launch file, include the following lines:
+```
+  <include file="$(find iri_adc_description)/launch/description.launch">
+    <arg name="name"  value="$(arg name)"/>
+    <arg name="sim_config_path" value="$(arg sim_config_path)"/>
+  </include>
+```
+
+# Disclaimer
+
+Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+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 <http://www.gnu.org/licenses/>

launch/description.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="name" default="adc_car"/>
+  <arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
+
+  <group ns="$(arg name)">
+    <param name="robot_description"
+           command="$(find xacro)/xacro '$(find iri_adc_description)/urdf/adc_car.xacro' name:=$(arg name) sim_config_path:=$(arg sim_config_path)" />
+
+    <node pkg="robot_state_publisher" type="robot_state_publisher" name="tf_broadcaster_$(arg name)">
+      <param name="publish_frequency" type="double" value="50.0"/>
+      <param name="tf_prefix" value="$(arg name)"/>
+      <remap from="/joint_states" to="/$(arg name)/joint_states" />
+    </node>
+  </group>
+
+</launch>

launch/description_test.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  
+  <arg name="name"  default="adc_car"/>
+  <arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config/default"/>
+
+  <include file="$(find iri_adc_description)/launch/description.launch">
+    <arg name="name"  value="$(arg name)"/>
+    <arg name="sim_config_path" value="$(arg sim_config_path)"/>
+  </include>
+
+  <group ns="$(arg name)">
+    <node name="joint_state_publisher"
+          pkg ="joint_state_publisher_gui"
+          type="joint_state_publisher_gui">
+      <remap from="/joint_states"
+               to="/$(arg name)/joint_states" />
+    </node>
+  </group>
+
+
+  <node name="rviz"
+        pkg ="rviz"
+        type="rviz"
+        args="-d $(find iri_adc_description)/rviz/description.rviz" />
+
+</launch>

package.xml

+<?xml version="1.0"?>
+<package>
+  <name>iri_adc_description</name>
+  <version>0.0.0</version>
+  <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@iri.upc.edu">shernand</maintainer>
+  <maintainer email="fherrero@iri.upc.edu">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 -->
+  <license>LGPL</license>
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!--<url type="website">http://wiki.ros.org/iri_adc_description</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@iri.upc.edu">shernand</author>
+  <author email="fherrero@iri.upc.edu">fherrero</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> -->
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo_plugins</run_depend>
+  <run_depend>hector_gazebo_plugins</run_depend>
+  <run_depend>imu_filter_madgwick</run_depend>
+
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>

rviz/description.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 80
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /RobotModel1
+        - /TF1
+        - /bodywork1
+        - /bodywork1/Status1
+      Splitter Ratio: 0.30478954315185547
+    Tree Height: 821
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 200
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_camera_uvc_camera_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_camera_uvc_camera_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_lidar_rplidar_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_lidar_rplidar_scan_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_mpu9250:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_mpu9250_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_camera_uvc_camera_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_camera_uvc_camera_optical:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_center_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_center_ranger1d:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_left_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_left_ranger1d:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_left_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_ranger1d:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_right_wheel:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        side_left_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        side_left_ranger1d:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        side_right_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        side_right_ranger1d:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        steer_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        steer_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: adc_car/robot_description
+      TF Prefix: adc_car
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        adc_car/base_footprint:
+          Value: true
+        adc_car/base_link:
+          Value: true
+        adc_car/body:
+          Value: true
+        adc_car/front_camera_uvc_camera_base:
+          Value: true
+        adc_car/front_camera_uvc_camera_optical:
+          Value: true
+        adc_car/front_lidar_rplidar_base:
+          Value: true
+        adc_car/front_lidar_rplidar_scan_frame:
+          Value: true
+        adc_car/imu_mpu9250:
+          Value: true
+        adc_car/imu_mpu9250_base:
+          Value: true
+        adc_car/rear_camera_uvc_camera_base:
+          Value: true
+        adc_car/rear_camera_uvc_camera_optical:
+          Value: true
+        adc_car/rear_center_base:
+          Value: true
+        adc_car/rear_center_ranger1d:
+          Value: true
+        adc_car/rear_left_base:
+          Value: true
+        adc_car/rear_left_ranger1d:
+          Value: true
+        adc_car/rear_right_base:
+          Value: true
+        adc_car/rear_right_ranger1d:
+          Value: true
+        adc_car/side_left_base:
+          Value: true
+        adc_car/side_left_ranger1d:
+          Value: true
+        adc_car/side_right_base:
+          Value: true
+        adc_car/side_right_ranger1d:
+          Value: true
+      Marker Scale: 0.25
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        adc_car/base_footprint:
+          adc_car/base_link:
+            adc_car/body:
+              {}
+            adc_car/front_camera_uvc_camera_base:
+              adc_car/front_camera_uvc_camera_optical:
+                {}
+            adc_car/front_lidar_rplidar_base:
+              adc_car/front_lidar_rplidar_scan_frame:
+                {}
+            adc_car/imu_mpu9250_base:
+              adc_car/imu_mpu9250:
+                {}
+            adc_car/rear_camera_uvc_camera_base:
+              adc_car/rear_camera_uvc_camera_optical:
+                {}
+            adc_car/rear_center_base:
+              adc_car/rear_center_ranger1d:
+                {}
+            adc_car/rear_left_base:
+              adc_car/rear_left_ranger1d:
+                {}
+            adc_car/rear_right_base:
+              adc_car/rear_right_ranger1d:
+                {}
+            adc_car/side_left_base:
+              adc_car/side_left_ranger1d:
+                {}
+            adc_car/side_right_base:
+              adc_car/side_right_ranger1d:
+                {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: ""
+      Name: bodywork
+      Robot Description: adc_car/bodywork/robot_description
+      TF Prefix: adc_car/bodywork
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: adc_car/base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.7473527193069458
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.8553980588912964
+      Target Frame: base_link
+      Value: Orbit (rviz)
+      Yaw: 1.120397925376892
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000002b3000003c2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003c2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f000003c2fc0200000008fb0000001400460072006f006e00740049006d006100670065010000003d000001df0000000000000000fb0000001200520065006100720049006d0061006700650100000222000001dd0000000000000000fb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000004f300fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000003c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 0

urdf/adc_car.xacro

+<?xml version="1.0"?>
+
+<robot name="adc_car" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="name" default="car"/>
+  <xacro:arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
+
+  <!-- Included URDF Files -->
+  <xacro:include filename="$(find iri_model_car_description)/urdf/include/platform.xacro" />
+  <xacro:include filename="$(find iri_model_car_description)/urdf/include/sensors.xacro" />
+  <xacro:include filename="$(find iri_adc_description)/urdf/bodywork.xacro" />
+
+  <xacro:model_car name="$(arg name)" sim_config_path="$(arg sim_config_path)">
+  </xacro:model_car>
+
+  <xacro:sensors name="$(arg name)" sim_config_path="$(arg sim_config_path)">
+  </xacro:sensors>
+
+  <xacro:bodywork name="bodywork" parent="base_link">
+    <color rgba="0.7 0.0 0.0 1.0"/>
+    <origin xyz="0.19 0.0 0.112" rpy="0 0 3.14159" />
+  </xacro:bodywork>
+
+</robot>

urdf/bodywork.xacro

+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="base_link" default="car"/>
+
+  <xacro:macro name="bodywork" params="name parent *color *origin">
+    <link name="${name}">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iri_adc_description/meshes/bodywork.stl"/>
+        </geometry>
+        <material name="${name}_color">
+          <xacro:insert_block name="color" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iri_adc_description/meshes/bodywork.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${parent}_to_${name}" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}" />
+      <child link="${name}" />
+    </joint>
+
+  </xacro:macro>
+
+</root>