Add sign stl

urdf/signs/semaphore_macro.xacro

@@ -19,7 +19,7 @@
   <xacro:macro name="semaphore" 
                params="name:=semaphore                
                        tag_dae:=alvar0_negative
-                       box_gazebo_material:=Gazebo/Black
+                       box_gazebo_material:=Gazebo/DarkGrey
                        light_gazebo_material:=Gazebo/Green
                        light_gazebo_material2:=Gazebo/Red">
 
@@ -54,23 +54,17 @@
           <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
         </geometry>
       </visual>
-
-      <collision>
-        <geometry>
-          <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </collision>
     </link>
 
     <gazebo reference="${name}_light_link">
-<!--       <material>${light_gazebo_material}</material> -->
+      <material>${light_gazebo_material}</material>
       
-      <visual>
+<!--      <visual>
         <plugin name="${name}_color_plugin" filename="libcolor_plugin.so" >
             <material>${light_gazebo_material}</material>
             <material2>${light_gazebo_material2}</material2>
         </plugin>
-      </visual>
+      </visual>-->
       
     </gazebo>
 

urdf/signs/sign_macro.xacro

@@ -8,32 +8,31 @@
   <xacro:property name="box_width"    value="0.07" />
   <xacro:property name="box_depth"    value="0.07" />
   <xacro:property name="box_height"   value="0.175" />
-  <xacro:property name="box_material" value="white" />
+  <xacro:property name="box_material" value="black" />
   <xacro:property name="tag_size"       value="0.05" />
-  <xacro:property name="tag_z_offset"   value="0.04" />
+  <xacro:property name="tag_z_offset"   value="0.025" />
   <xacro:property name="delta"          value="0.0001" />
   <xacro:property name="top_panel_width"    value="0.05" />
   <xacro:property name="top_panel_height"   value="0.05" />
-  <xacro:property name="top_panel_z_offset" value="0.10" />
+  <xacro:property name="top_panel_z_offset" value="0.11" />
 
   <xacro:macro name="sign" 
                params="name:=sign                
                        tag_dae:=alvar0_negative
                        top_panel_dae:=stop
-                       box_gazebo_material:=Gazebo/Black
-                       light_gazebo_material:=Gazebo/Black">
+                       box_gazebo_material:=Gazebo/DarkGrey">
 
     <link name="${name}_base_link">
       <visual>
         <geometry>
-          <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
-          <mesh filename="package://iri_sign_description/meshes/semaphore_case.dae" scale="0.001 0.001 0.001"/>
+          <mesh filename="package://iri_sign_description/meshes/sign.stl" scale="0.001 0.001 0.001"/>
         </geometry>
         <material name="${box_material}"/>
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://iri_sign_description/meshes/semaphore_case.dae" scale="0.001 0.001 0.001"/>
+          <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
+          <mesh filename="package://iri_sign_description/meshes/sign.stl" scale="0.001 0.001 0.001"/>
         </geometry>
       </collision>
     </link>
@@ -41,31 +40,6 @@
     <gazebo reference="${name}_base_link">
       <material>${box_gazebo_material}</material>
     </gazebo>
-
-    <link name="${name}_light_link">
-      <visual>
-        <geometry>
-          <!--<box size="${box_depth} ${box_width} ${box_height}"/>-->
-          <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-        <material name="${box_material}"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://iri_sign_description/meshes/semaphore_light.stl" scale="0.001 0.001 0.001"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <gazebo reference="${name}_light_link">
-      <material>${light_gazebo_material}</material>
-    </gazebo>
-
-    <joint name="joint_${name}_base_link_to_${name}_light_link" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <parent link="${name}_base_link"/>
-      <child link="${name}_light_link" />
-    </joint>
     
     <link name="${name}_tag_link">
       <inertial>
@@ -76,7 +50,7 @@
     </link>
     
     <joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
-      <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
+      <origin xyz="${0.016+delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
       <parent link="${name}_base_link"/>
       <child link="${name}_tag_link" />
     </joint>
@@ -107,7 +81,7 @@
     </link>
 
     <joint name="joint_${name}_base_link_to_${name}_top_panel_link" type="fixed">
-      <origin xyz="${delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 0 0"/>
+      <origin xyz="${0.003+delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 0 0"/>
       <parent link="${name}_base_link"/>
       <child link="${name}_top_panel_link"/>
     </joint>