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Updated robot_description
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‎chapter_9_codes/mastering_ros_robot_description_pkg/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(mastering_ros_robot_description_pkg)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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roscpp
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rviz
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tf
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urdf
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xacro
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependencies might have been
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## pulled in transitively but can be declared for certainty nonetheless:
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## * add a build_depend tag for "message_generation"
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# geometry_msgs
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES mastering_ros_robot_description_pkg
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# CATKIN_DEPENDS geometry_msgs roscpp rviz tf urdf xacro
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a cpp library
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# add_library(mastering_ros_robot_description_pkg
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# src/${PROJECT_NAME}/mastering_ros_robot_description_pkg.cpp
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# )
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## Declare a cpp executable
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# add_executable(mastering_ros_robot_description_pkg_node src/mastering_ros_robot_description_pkg_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(mastering_ros_robot_description_pkg_node mastering_ros_robot_description_pkg_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(mastering_ros_robot_description_pkg_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS mastering_ros_robot_description_pkg mastering_ros_robot_description_pkg_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_mastering_ros_robot_description_pkg.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎chapter_9_codes/mastering_ros_robot_description_pkg/README.md

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# mastering_ros_robot_description_pkg
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‎chapter_9_codes/mastering_ros_robot_description_pkg/launch/view_arm.launch

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<launch>
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<arg name="model" />
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<!-- Parsing xacro and setting robot_description parameter -->
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<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/seven_dof_arm.xacro" />
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<!-- Setting gui parameter to true for display joint slider -->
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<param name="use_gui" value="true"/>
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<!-- Starting Joint state publisher node which will publish the joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- Starting robot state publish which will publish tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Launch visualization in rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
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</launch>

‎chapter_9_codes/mastering_ros_robot_description_pkg/launch/view_mobile_robot.launch

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<launch>
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<arg name="model" />
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<!-- Parsing xacro and setting robot_description parameter -->
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<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/diff_wheeled_robot.xacro" />
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<!-- Setting gui parameter to true for display joint slider -->
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<param name="use_gui" value="true"/>
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<!-- Starting Joint state publisher node which will publish the joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- Starting robot state publish which will publish tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Launch visualization in rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
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</launch>

‎chapter_9_codes/mastering_ros_robot_description_pkg/launch/view_pan_tilt_urdf.launch

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<launch>
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<arg name="model" />
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<!-- Parsing xacro and setting robot_description parameter -->
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<!-- <param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/seven_dof_arm.xacro" /> -->
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<param name="robot_description" textfile="$(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.urdf" />
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<!-- Setting gui parameter to true for display joint slider -->
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<param name="use_gui" value="true"/>
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<!-- Starting Joint state publisher node which will publish the joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- Starting robot state publish which will publish tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Launch visualization in rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
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</launch>

‎chapter_9_codes/mastering_ros_robot_description_pkg/launch/view_pan_tilt_xacro.launch

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<launch>
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<arg name="model" />
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<!-- Parsing xacro and setting robot_description parameter -->
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<param name="robot_description" command="$(find xacro)/xacro.py $(find mastering_ros_robot_description_pkg)/urdf/pan_tilt.xacro" />
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<!-- Setting gui parameter to true for display joint slider -->
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<param name="use_gui" value="true"/>
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<!-- Starting Joint state publisher node which will publish the joint values -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- Starting robot state publish which will publish tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
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<!-- Launch visualization in rviz -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mastering_ros_robot_description_pkg)/urdf.rviz" required="true" />
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</launch>

‎chapter_9_codes/mastering_ros_robot_description_pkg/meshes/caster_wheel.stl

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‎chapter_9_codes/mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.dae

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‎chapter_9_codes/mastering_ros_robot_description_pkg/meshes/sensors/xtion_pro_live/xtion_pro_live.png

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‎chapter_9_codes/mastering_ros_robot_description_pkg/package.xml

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<?xml version="1.0"?>
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<package>
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<name>mastering_ros_robot_description_pkg</name>
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<version>0.0.0</version>
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<description>The mastering_ros_robot_description_pkg package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">robot</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/mastering_ros_robot_description_pkg</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rviz</build_depend>
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<build_depend>tf</build_depend>
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<build_depend>urdf</build_depend>
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<build_depend>xacro</build_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rviz</run_depend>
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<run_depend>tf</run_depend>
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<run_depend>urdf</run_depend>
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<run_depend>xacro</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

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