Commit 5bf0ff9e authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Added the iri_ prefix to the package.

parent bb68f54a
cmake_minimum_required(VERSION 2.8.3)
project(model_car_description)
project(iri_model_car_description)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
......
......@@ -13,7 +13,7 @@ roscd && cd ../src
Clone the repository:
```
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/simulator/model_car_description.git
git clone https://gitlab.iri.upc.edu/mobile_robotics/adc/simulator/iri_model_car_description.git
```
Install all ROS dependencies with the following commands:
......@@ -32,17 +32,17 @@ catkin_make
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 model_car_description description_test.launch
roslaunch iri_model_car_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=model_car_gazebo/config): path where the simulation sensor configuration files for all sensors are located. See the [model_car_gazebo]() documentation for more details.
* **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]() documentation for more details.
To include the model_car_description into an other launch file, include the following lines:
To include the iri_model_car_description into an other launch file, include the following lines:
```
<include file="$(find model_car_description)/launch/description.launch">
<include file="$(find iri_model_car_description)/launch/description.launch">
<arg name="name" value="$(arg name)"/>
<arg name="sim_config_path" value="$(arg sim_config_path)"/>
</include>
......@@ -58,4 +58,4 @@ This package is distributed in the hope that it will be useful, but without any
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/>
\ No newline at end of file
along with this program. If not, see <http://www.gnu.org/licenses/>
......@@ -2,11 +2,11 @@
<launch>
<arg name="name" default="model_car"/>
<arg name="sim_config_path" default="$(find model_car_gazebo)/config"/>
<arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
<group ns="$(arg name)">
<param name="robot_description"
command="$(find xacro)/xacro '$(find model_car_description)/urdf/car.xacro' name:=$(arg name) sim_config_path:=$(arg sim_config_path)" />
command="$(find xacro)/xacro '$(find iri_model_car_description)/urdf/car.xacro' name:=$(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"/>
......
......@@ -2,9 +2,9 @@
<launch>
<arg name="name" default="model_car"/>
<arg name="sim_config_path" default="$(find model_car_gazebo)/config"/>
<arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
<include file="$(find model_car_description)/launch/description.launch">
<include file="$(find iri_model_car_description)/launch/description.launch">
<arg name="name" value="$(arg name)"/>
<arg name="sim_config_path" value="$(arg sim_config_path)"/>
</include>
......@@ -21,6 +21,6 @@
<node name="rviz"
pkg ="rviz"
type="rviz"
args="-d $(find model_car_description)/config/description.rviz" />
args="-d $(find iri_model_car_description)/config/description.rviz" />
</launch>
/**
\mainpage
\htmlinclude manifest.html
\b model_car_description
<!--
Provide an overview of your package.
-->
-->
*/
<?xml version="1.0"?>
<package>
<name>model_car_description</name>
<name>iri_model_car_description</name>
<version>0.0.0</version>
<description>Description and configuration files for the MODEL car robot</description>
......@@ -17,7 +17,7 @@
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!--<url type="website">http://wiki.ros.org/model_car_description</url>-->
<!--<url type="website">http://wiki.ros.org/iri_model_car_description</url>-->
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
......
......@@ -3,11 +3,11 @@
<robot name="model_car" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="name" default="car"/>
<xacro:arg name="sim_config_path" default="$(find model_car_gazebo)/config"/>
<xacro:arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
<!-- Included URDF Files -->
<xacro:include filename="$(find model_car_description)/urdf/include/platform.xacro" />
<xacro:include filename="$(find model_car_description)/urdf/include/sensors.xacro" />
<xacro:include filename="$(find iri_model_car_description)/urdf/include/platform.xacro" />
<xacro:include filename="$(find iri_model_car_description)/urdf/include/sensors.xacro" />
<xacro:model_car name="$(arg name)" sim_config_path="$(arg sim_config_path)">
</xacro:model_car>
......
......@@ -2,8 +2,8 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find model_car_description)/urdf/include/wheel.xacro" />
<xacro:include filename="$(find model_car_description)/urdf/include/platform.gazebo" />
<xacro:include filename="$(find iri_model_car_description)/urdf/include/wheel.xacro" />
<xacro:include filename="$(find iri_model_car_description)/urdf/include/platform.gazebo" />
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="angle_limit" value="${PI/3.0}" />
......@@ -41,14 +41,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_car_description/meshes/base.stl"/>
<mesh filename="package://iri_model_car_description/meshes/base.stl"/>
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://model_car_description/meshes/base.stl"/>
<mesh filename="package://iri_model_car_description/meshes/base.stl"/>
</geometry>
</collision>
</link>
......
......@@ -2,14 +2,14 @@
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find model_car_description)/urdf/include/wheel.gazebo" />
<xacro:include filename="$(find iri_model_car_description)/urdf/include/wheel.gazebo" />
<xacro:macro name="wheel" params="name parent direction *origin">
<link name="${name}_wheel">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://model_car_description/meshes/wheel.stl"/>
<mesh filename="package://iri_model_car_description/meshes/wheel.stl"/>
</geometry>
<material name="Black">
<color rgba="0.1 0.1 0.1 1.0"/>
......@@ -25,7 +25,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://model_car_description/meshes/wheel.stl"/>
<mesh filename="package://iri_model_car_description/meshes/wheel.stl"/>
</geometry>
</collision>
</link>
......
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