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Merge pull request #39 from code-iai/noetic
Noetic support
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,31 +1,8 @@ | ||
| <launch> | ||
| <arg | ||
| name="model" /> | ||
| <arg | ||
| name="gui" | ||
| default="True" /> | ||
| <arg name="urdf-name" default="boxy_description.urdf.xacro"/> | ||
| <arg name="urdf-path" value="$(find iai_boxy_description)/robots/$(arg urdf-name)"/> | ||
| <arg name="gui" default="True" /> | ||
| <include file="$(find iai_boxy_description)/launch/upload_boxy.launch" /> | ||
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| <include file="$(find iai_boxy_description)/launch/upload_boxy.launch"> | ||
| <arg name="urdf-name" value="$(arg urdf-name)"/> | ||
| <arg name="urdf-path" value="$(arg urdf-path)"/> | ||
| </include> | ||
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|
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| <param | ||
| name="use_gui" | ||
| value="$(arg gui)" /> | ||
| <node | ||
| name="joint_state_publisher" | ||
| pkg="joint_state_publisher" | ||
| type="joint_state_publisher" /> | ||
| <node | ||
| name="robot_state_publisher" | ||
| pkg="robot_state_publisher" | ||
| type="state_publisher" /> | ||
| <!--node | ||
| name="rviz" | ||
| pkg="rviz" | ||
| type="rviz" | ||
| args="-d $(find boxy_description)/urdf.rviz" /--> | ||
| <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" /> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find iai_boxy_description)/urdf.rviz" /> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,27 +1,28 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" | ||
| xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" | ||
| xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"> | ||
| xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" | ||
| xmlns:xacro="http://www.ros.org/wiki/xacro"> | ||
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| <property name="M_PI" value="3.1415926535897931" /> | ||
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| <!-- | ||
| Little helper macro to define the inertia matrix needed | ||
| for links. | ||
| --> | ||
| <macro name="cuboid_inertia_def" params="width height length mass"> | ||
| <xacro:macro name="cuboid_inertia_def" params="width height length mass"> | ||
| <inertia ixx="${mass * (height * height + length * length) / 12}" | ||
| iyy="${mass * (width * width + length * length) / 12}" | ||
| izz="${mass * (width * width + height * height) / 12}" | ||
| ixy="0" iyz="0" ixz="0"/> | ||
| </macro> | ||
| </xacro:macro> | ||
|
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| <!-- length is along the y-axis! --> | ||
| <macro name="cylinder_inertia_def" params="radius length mass"> | ||
| <xacro:macro name="cylinder_inertia_def" params="radius length mass"> | ||
| <inertia ixx="${mass * (3 * radius * radius + length * length) / 12}" | ||
| iyy="${mass * radius* radius / 2}" | ||
| izz="${mass * (3 * radius * radius + length * length) / 12}" | ||
| ixy="0" iyz="0" ixz="0"/> | ||
| </macro> | ||
| </xacro:macro> | ||
|
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| </robot> |
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