From 8da0bd39fe0a17ddd582abe8a4c26fceb1aa959f Mon Sep 17 00:00:00 2001 From: fherrero <fherrero@iri.upc.edu> Date: Thu, 23 Apr 2020 16:52:07 +0200 Subject: [PATCH] Separate description.launch. Remove passing parent link --- .../{spawn_sign.launch => description.launch} | 22 +++---------- launch/spawn.launch | 31 +++++++++++++++++++ urdf/sign.xacro | 5 --- urdf/signs/sign_macro.xacro | 21 +++++++------ 4 files changed, 48 insertions(+), 31 deletions(-) rename launch/{spawn_sign.launch => description.launch} (60%) create mode 100644 launch/spawn.launch diff --git a/launch/spawn_sign.launch b/launch/description.launch similarity index 60% rename from launch/spawn_sign.launch rename to launch/description.launch index d2e4fa5..0fffe8c 100644 --- a/launch/spawn_sign.launch +++ b/launch/description.launch @@ -1,40 +1,28 @@ <!-- --> <launch> - <arg name="name" default="stop1"/> + <arg name="name" default="stop"/> <arg name="tag" default="alvar0"/> <arg name="type" default="stop"/> - <arg name="x" default="0.5"/> - <arg name="y" default="-0.5"/> - <arg name="yaw" default="3.14159"/> <arg name="model" default="sign"/> <arg name="model_path" default="$(find sign_description)/urdf/$(arg model).xacro"/> - <arg name="parent" default="map"/> + <arg name="state_publisher" default="true"/> <arg name="rviz" default="false"/> <param name="$(arg name)_description" command="$(find xacro)/xacro --inorder '$(arg model_path)' name:=$(arg name) tag:=$(arg tag) - type:=$(arg type) - parent:=$(arg parent) - x:=$(arg x) - y:=$(arg y) - yaw:=$(arg yaw)"> + type:=$(arg type)"> </param> <node name="$(arg name)_state_publisher" pkg ="robot_state_publisher" - type="robot_state_publisher"> + type="robot_state_publisher" + if="$(arg state_publisher)"> <!--<param name="tf_prefix" value="/$(arg name)" type="str" />--> <remap from="robot_description" to="$(arg name)_description" /> <remap from="/joint_states" to="/$(arg name)/joint_states" /> </node> - - <node name="spawn_urdf_$(arg name)" - pkg ="gazebo_ros" - type="spawn_model" - args="-param /$(arg name)_description -urdf -model $(arg name) -x 0 -y 0 -z 0 -Y 0"> - </node> <node name="$(arg name)_rviz" pkg="rviz" type="rviz" if="$(arg rviz)" diff --git a/launch/spawn.launch b/launch/spawn.launch new file mode 100644 index 0000000..f655450 --- /dev/null +++ b/launch/spawn.launch @@ -0,0 +1,31 @@ +<!-- --> +<launch> + <arg name="name" default="stop1"/> + <arg name="model" default="sign"/> + <arg name="tag" default="alvar0"/> + <arg name="type" default="stop"/> + <arg name="x" default="0.5"/> + <arg name="y" default="-0.5"/> + <arg name="yaw" default="3.14159"/> + <arg name="parent" default="map"/> + <arg name="rviz" default="false"/> + + <include file="$(find sign_description)/launch/description.launch"> + <arg name="name" value="$(arg name)"/> + <arg name="tag" value="$(arg tag)"/> + <arg name="type" value="$(arg type)"/> + <arg name="model" value="$(arg model)"/> + <arg name="rviz" value="$(arg rviz)"/> + </include> + + <node name="spawn_urdf_$(arg name)" + pkg ="gazebo_ros" + type="spawn_model" + args="-param /$(arg name)_description -urdf -model $(arg name) -x $(arg x) -y $(arg y) -z 0 -Y $(arg yaw)"> + </node> + + <node name="static_tf_$(arg name)_base_link_to_$(arg parent)" pkg="tf" type="static_transform_publisher" + args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg parent) $(arg name)_base_link 100"> + </node> + +</launch> \ No newline at end of file diff --git a/urdf/sign.xacro b/urdf/sign.xacro index 5e8b9fb..5e9fb4e 100644 --- a/urdf/sign.xacro +++ b/urdf/sign.xacro @@ -2,15 +2,10 @@ <robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find sign_description)/urdf/signs/sign_macro.xacro" /> - - <link name="$(arg parent)"> - </link> <xacro:sign name="$(arg name)" - parent="$(arg parent)" tag_dae="$(arg tag)" top_panel_dae="$(arg type)"> - <origin xyz="$(arg x) $(arg y) 0" rpy="0 0 $(arg yaw)"/> </xacro:sign> </robot> \ No newline at end of file diff --git a/urdf/signs/sign_macro.xacro b/urdf/signs/sign_macro.xacro index 2ab78a5..bd9567a 100644 --- a/urdf/signs/sign_macro.xacro +++ b/urdf/signs/sign_macro.xacro @@ -19,8 +19,6 @@ <xacro:macro name="sign" params="name:=sign - parent:=map - *origin tag_dae:=alvar0 top_panel_dae:=stop box_gazebo_material:=Gazebo/White"> @@ -45,12 +43,6 @@ </geometry> </collision> </link> - - <joint name="joint_${parent}_to_${name}_base_link" type="fixed"> - <xacro:insert_block name="origin" /> - <parent link="${parent}"/> - <child link="${name}_base_link"/> - </joint> <gazebo reference="${name}_base_link"> <material>${box_gazebo_material}</material> @@ -120,8 +112,19 @@ </joint> <gazebo> - <static>1</static> + <static>true</static> + </gazebo> + + <!-- + <gazebo> + <plugin name="${name}_ground_truth" filename="libgazebo_ros_p3d.so"> + <frameName>map</frameName> + <bodyName>${name}_base_link</bodyName> + <topicName>${name}_odom_ground_truth</topicName> + <updateRate>5.0</updateRate> + </plugin> </gazebo> + --> </xacro:macro> -- GitLab