Commit a2308186 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Add sign stl

parent 04541f9b
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......@@ -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>
......
......@@ -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>
......
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