Commit b3ff2e53 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[cmake] Use jrl-cmakemodules standards. Rewrite CMakeLists.txt

[urdf] Change talos_small.urdf to use the smaller STL meshes.

* depends on urdfdom>=0.2.9. does not depend on Catkin
* remove package.xml
* add submodule cmake

NOTE: ASSIMP is angry with the header of the bigger STL files like arm_1.stl
parent 8df9e16b
[submodule "cmake"]
path = cmake
url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
cmake_minimum_required(VERSION 2.8.3)
project(talos_description)
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)
INCLUDE(cmake/base.cmake)
#include(cmake/ros.cmake)
find_package(catkin REQUIRED)
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES talos_description
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
SET(PROJECT_NAME talos-data)
SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
SET(PROJECT_URL "https://redmine.laas.fr/projects/pyrene-talos/repository/talos-data")
foreach(dir config gazebo meshes robots urdf srdf)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
SETUP_PROJECT()
# Find xml_reflection
ADD_REQUIRED_DEPENDENCY("urdfdom >= 0.2.9")
FOREACH(dir config gazebo meshes robots urdf srdf)
INSTALL(DIRECTORY ${CMAKE_SOURCE_DIR}/${dir}
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${dir})
ENDFOREACH(dir)
SETUP_PROJECT_FINALIZE()
\ No newline at end of file
Subproject commit 54177e44a1440222184865f1449c40b708eeaaa4
<?xml version="1.0"?>
<package>
<name>talos_description</name>
<version>0.0.13</version>
<description>The talos_description package</description>
<maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
<license>Proprietary</license>
<buildtool_depend>catkin</buildtool_depend>
<export>
</export>
</package>
......@@ -289,6 +289,7 @@
<!-- inertia tensor computed analytically for a solid cuboid -->
<inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
</inertial>
<!--
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
......@@ -298,6 +299,7 @@
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
-->
<collision>
<origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
<geometry>
......@@ -454,7 +456,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -487,7 +489,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -520,7 +522,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -556,7 +558,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -627,7 +629,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
......@@ -660,7 +662,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
......@@ -838,7 +840,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -871,7 +873,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -904,7 +906,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -940,7 +942,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......@@ -1011,7 +1013,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
......@@ -1044,7 +1046,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
......@@ -1085,7 +1087,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 -1 1"/>
<mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
......
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