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Commit a37ef3b0 authored by Rohan Budhiraja's avatar Rohan Budhiraja
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change mesh requirement in urdf from talos_description to talos-data. 

TODO: add package.xml file.
parent 415d3be1
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CHANGELOG.rst
View file @ a37ef3b0
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package talos_description
Changelog for package talos-data
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.0.13 (2016-11-15)
......
launch/talos_joint_command_rviz.launch
View file @ a37ef3b0
roslaunch talos_description upload_legs.launch
roslaunch talos-data upload_legs.launch
rosrun joint_state_publisher joint_state_publisher _use_gui:=True
......
robots/talos_arm.urdf.xacro
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......@@ -13,8 +13,8 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
<link name="talos_2_link">
<inertial>
......@@ -28,7 +28,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
......@@ -36,7 +36,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -48,8 +48,8 @@
<xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full.urdf
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robots/talos_full.urdf.xacro
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......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -37,8 +37,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full_collision.urdf
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robots/talos_full_no_grippers.urdf.xacro
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......@@ -13,11 +13,11 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -33,8 +33,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_full_no_lower_arm.urdf.xacro
View file @ a37ef3b0
......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -32,8 +32,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_gripper.urdf.xacro
View file @ a37ef3b0
......@@ -13,17 +13,17 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:talos_torso name="torso" />
<xacro:talos_gripper name="gripper" parent="torso_2_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_head.urdf.xacro
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......@@ -13,7 +13,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<link name="talos_2_link">
<inertial>
......@@ -27,7 +27,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/talos_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
......@@ -35,7 +35,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -43,8 +43,8 @@
<xacro:talos_head name="head" parent="talos_2_link"/>
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_lower_body.urdf.xacro
View file @ a37ef3b0
......@@ -13,7 +13,7 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<link name="base_link">
<inertial>
<origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
......@@ -26,7 +26,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/talos/base_link.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
......@@ -34,7 +34,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
<mesh filename="package://talos-data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
......@@ -44,8 +44,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_lower_body_with_torso.urdf.xacro
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......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -28,8 +28,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_reduced.urdf
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robots/talos_small.urdf.xacro
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......@@ -13,12 +13,12 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
<!-- <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" /> -->
<xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/head/head.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/arm/arm.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/sensors/ftsensor.urdf.xacro" />
<!-- <xacro:include filename="$(find talos-data)/urdf/gripper/gripper.urdf.xacro" /> -->
<xacro:include filename="$(find talos-data)/urdf/leg/leg.urdf.xacro" />
<xacro:talos_torso name="torso" />
......@@ -38,8 +38,8 @@
<xacro:talos_leg prefix="right" reflect="-1" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/talos_torso.urdf.xacro
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......@@ -13,13 +13,13 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/torso/torso.urdf.xacro" />
<xacro:talos_torso name="torso" />
<!-- Generic simulatalos_gazebo plugins -->
<xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<xacro:include filename="$(find talos-data)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
<xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find talos-data)/urdf/materials.urdf.xacro" />
</robot>
robots/upload_arm.launch
View file @ a37ef3b0
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_arm.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_arm.urdf.xacro'" />
</launch>
robots/upload_gripper.launch
View file @ a37ef3b0
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_gripper.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_gripper.urdf.xacro'" />
</launch>
robots/upload_head.launch
View file @ a37ef3b0
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_head.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_head.urdf.xacro'" />
</launch>
robots/upload_legs.launch
View file @ a37ef3b0
<launch>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_lower_body.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_lower_body.urdf.xacro'" />
</launch>
robots/upload_talos.launch
View file @ a37ef3b0
......@@ -3,6 +3,6 @@
<arg name="robot" default="full"/>
<!-- Robot description -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find talos-data)/robots/talos_$(arg robot).urdf.xacro'" />
</launch>
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