Hector description: added files and loader

.gitignore

 *.pyc
 *.pyd
 *.pyo
+/build

CMakeLists.txt

@@ -45,6 +45,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 SETUP_PROJECT_FINALIZE()

hector_description/package.xml

+<package>
+  <name>hector-description</name>
+  <version>0.3.5</version>
+  <description>hector-description provides an URDF model of a quadrotor UAV.</description>
+  <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/hector_quadrotor_description</url>
+  <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
+
+  <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
+  <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
+
+  <!-- Dependencies which this package needs to build itself. -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <!-- Dependencies needed to compile this package. -->
+
+  <!-- Dependencies needed after this package is compiled. -->
+  <run_depend>hector_sensors_description</run_depend>
+
+  <!-- Dependencies needed only for running tests. -->
+
+</package>

hector_description/robots/quadrotor_base.urdf

+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from quadrotor_base.xacro           | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="base_link">
+    <inertial>
+      <mass value="1.477"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.stl"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

hector_description/robots/quadrotor_base.urdf.xacro

+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="pi" value="3.1415926535897931" />
+
+  <!-- Main quadrotor link -->
+  <xacro:macro name="quadrotor_base_macro">
+    <link name="base_link">
+      <inertial>
+        <mass value="1.477" />
+        <origin xyz="0 0 0" />
+        <inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218" />
+      </inertial>
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.dae"/>
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+  </xacro:macro>
+</robot>

hector_description/robots/quadrotor_base.xacro

+<?xml version="1.0" ?>
+<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:include filename="package://hector-description/urdf/quadrotor_base.urdf.xacro"/>
+  <xacro:quadrotor_base_macro/>
+</robot>

python/example_robot_data/__init__.py

 # flake8: noqa
 from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
-                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, readParamsFromSrdf)

python/example_robot_data/robots_loader.py

@@ -225,5 +225,14 @@ def loadICub(reduced=True):
 def loadUR(robot=5, limited=False):
     URDF_FILENAME = 'ur%i%s_robot.urdf' % (robot, '_joint_limited' if limited else '')
     URDF_SUBPATH = '/ur_description/urdf/' + URDF_FILENAME
+    print URDF_SUBPATH
     modelPath = getModelPath(URDF_SUBPATH)
     return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+
+
+def loadHector():
+    URDF_FILENAME = "quadrotor_base.urdf"
+    URDF_SUBPATH = "/hector_description/robots/" + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+    return robot