Revision 0e182761

View differences:

buggygazebo/robobuggy_description/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
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project(robobuggy_description)
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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)
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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
29
##     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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#   std_msgs  # Or other packages containing 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 robobuggy_description
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#  CATKIN_DEPENDS other_catkin_pkg
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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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## Declare a cpp library
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# add_library(robobuggy_description
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#   src/${PROJECT_NAME}/robobuggy_description.cpp
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# )
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## Declare a cpp executable
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# add_executable(robobuggy_description_node src/robobuggy_description_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(robobuggy_description_node robobuggy_description_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(robobuggy_description_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 robobuggy_description robobuggy_description_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_robobuggy_description.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)
buggygazebo/robobuggy_description/package.xml
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<?xml version="1.0"?>
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<package>
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  <name>robobuggy_description</name>
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  <version>0.0.0</version>
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  <description>The robobuggy_description 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="jane.doe@example.com">Jane Doe</maintainer> -->
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  <maintainer email="tahm@todo.todo">tahm</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/robobuggy_description</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="jane.doe@example.com">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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  <!-- The export tag contains other, unspecified, tags -->
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  <export>
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    <!-- You can specify that this package is a metapackage here: -->
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    <!-- <metapackage/> -->
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    <!-- Other tools can request additional information be placed here -->
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  </export>
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</package>
buggygazebo/robobuggy_description/urdf/robobuggy.urdf
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<?xml version="1.0"?>
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<robot name="robobuggy">
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   <!-- Main Body -->
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   <link name='base_link'>
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      <collision name='collision'>
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        <origin xyz="0 0 .1" rpy="0 0 0"/>
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        <geometry>
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          <box  size=".4 .2 .1"/>
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        </geometry>
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      </collision>
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      <visual name='visual'>
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        <origin xyz="0 0 .1 " rpy="0 0 0"/>
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        <geometry>
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          <box  size=".4 .2 .1"/>
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        </geometry>
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      </visual>
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     <inertial>
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        <mass value="1e-5" />
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        <origin xyz="0 0 .1 " rpy="0 0 0"/>
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        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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     </inertial>
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  </link> 
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  <!-- Left Wheel -->
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  <link name="left_wheel">
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    <collision name="collision">
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      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
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      <geometry>
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         <cylinder  length="0.05" radius="0.1"/>
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      </geometry>
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    </collision>
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    <visual name="visual">
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      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
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      <geometry>
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        <cylinder  length="0.05" radius="0.1"/>
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      </geometry>
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    </visual>
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    <inertial>
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      <mass value="1e-5" />
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      <origin xyz="0.2 0.13 0.1"/>
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      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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    </inertial>
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  </link>
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  <joint type="revolute" name="joint1">
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    <!-- origin taken from generated pose for joint , form the file that was created by gzsdf print -->
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    <origin xyz="0.2 0.13 0.1" rpy="-1.56451e-13 1.5707 1.5707"/>
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    <child link="left_wheel">left_wheel</child>
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    <parent link="base_link">base_link</parent>
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    <axis xyz="0 1 0"/>
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    <limit effort="30" velocity="1.0"  lower="-100" upper="100" />
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  </joint>
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</robot>
buggygazebo/robobuggy_gazebo/CMakeLists.txt
1
cmake_minimum_required(VERSION 2.8.3)
2
project(robobuggy_gazebo)
3

  
4
## Find catkin macros and libraries
5
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
6
## is used, also find other catkin packages
7
find_package(catkin REQUIRED)
8

  
9
## System dependencies are found with CMake's conventions
10
# find_package(Boost REQUIRED COMPONENTS system)
11

  
12

  
13
## Uncomment this if the package has a setup.py. This macro ensures
14
## modules and global scripts declared therein get installed
15
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
16
# catkin_python_setup()
17

  
18
################################################
19
## Declare ROS messages, services and actions ##
20
################################################
21

  
22
## To declare and build messages, services or actions from within this
23
## package, follow these steps:
24
## * Let MSG_DEP_SET be the set of packages whose message types you use in
25
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
26
## * In the file package.xml:
27
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
28
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
29
##     pulled in transitively but can be declared for certainty nonetheless:
30
##     * add a build_depend tag for "message_generation"
31
##     * add a run_depend tag for "message_runtime"
32
## * In this file (CMakeLists.txt):
33
##   * add "message_generation" and every package in MSG_DEP_SET to
34
##     find_package(catkin REQUIRED COMPONENTS ...)
35
##   * add "message_runtime" and every package in MSG_DEP_SET to
36
##     catkin_package(CATKIN_DEPENDS ...)
37
##   * uncomment the add_*_files sections below as needed
38
##     and list every .msg/.srv/.action file to be processed
39
##   * uncomment the generate_messages entry below
40
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
41

  
42
## Generate messages in the 'msg' folder
43
# add_message_files(
44
#   FILES
45
#   Message1.msg
46
#   Message2.msg
47
# )
48

  
49
## Generate services in the 'srv' folder
50
# add_service_files(
51
#   FILES
52
#   Service1.srv
53
#   Service2.srv
54
# )
55

  
56
## Generate actions in the 'action' folder
57
# add_action_files(
58
#   FILES
59
#   Action1.action
60
#   Action2.action
61
# )
62

  
63
## Generate added messages and services with any dependencies listed here
64
# generate_messages(
65
#   DEPENDENCIES
66
#   std_msgs  # Or other packages containing msgs
67
# )
68

  
69
###################################
70
## catkin specific configuration ##
71
###################################
72
## The catkin_package macro generates cmake config files for your package
73
## Declare things to be passed to dependent projects
74
## INCLUDE_DIRS: uncomment this if you package contains header files
75
## LIBRARIES: libraries you create in this project that dependent projects also need
76
## CATKIN_DEPENDS: catkin_packages dependent projects also need
77
## DEPENDS: system dependencies of this project that dependent projects also need
78
catkin_package(
79
#  INCLUDE_DIRS include
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#  LIBRARIES robobuggy_gazebo
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#  CATKIN_DEPENDS other_catkin_pkg
82
#  DEPENDS system_lib
83
)
84

  
85
###########
86
## Build ##
87
###########
88

  
89
## Specify additional locations of header files
90
## Your package locations should be listed before other locations
91
# include_directories(include)
92

  
93
## Declare a cpp library
94
# add_library(robobuggy_gazebo
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#   src/${PROJECT_NAME}/robobuggy_gazebo.cpp
96
# )
97

  
98
## Declare a cpp executable
99
# add_executable(robobuggy_gazebo_node src/robobuggy_gazebo_node.cpp)
100

  
101
## Add cmake target dependencies of the executable/library
102
## as an example, message headers may need to be generated before nodes
103
# add_dependencies(robobuggy_gazebo_node robobuggy_gazebo_generate_messages_cpp)
104

  
105
## Specify libraries to link a library or executable target against
106
# target_link_libraries(robobuggy_gazebo_node
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#   ${catkin_LIBRARIES}
108
# )
109

  
110
#############
111
## Install ##
112
#############
113

  
114
# all install targets should use catkin DESTINATION variables
115
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
116

  
117
## Mark executable scripts (Python etc.) for installation
118
## in contrast to setup.py, you can choose the destination
119
# install(PROGRAMS
120
#   scripts/my_python_script
121
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
122
# )
123

  
124
## Mark executables and/or libraries for installation
125
# install(TARGETS robobuggy_gazebo robobuggy_gazebo_node
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#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
127
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
128
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
129
# )
130

  
131
## Mark cpp header files for installation
132
# install(DIRECTORY include/${PROJECT_NAME}/
133
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
134
#   FILES_MATCHING PATTERN "*.h"
135
#   PATTERN ".svn" EXCLUDE
136
# )
137

  
138
## Mark other files for installation (e.g. launch and bag files, etc.)
139
# install(FILES
140
#   # myfile1
141
#   # myfile2
142
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
143
# )
144

  
145
#############
146
## Testing ##
147
#############
148

  
149
## Add gtest based cpp test target and link libraries
150
# catkin_add_gtest(${PROJECT_NAME}-test test/test_robobuggy_gazebo.cpp)
151
# if(TARGET ${PROJECT_NAME}-test)
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#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
153
# endif()
154

  
155
## Add folders to be run by python nosetests
156
# catkin_add_nosetests(test)
buggygazebo/robobuggy_gazebo/launch/robobuggy.launch
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<launch>
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  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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  <include file="$(find gazebo_ros)/launch/empty_world.launch">
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    <arg name="world_name" value="$(find robobuggy_gazebo)/worlds/robobuggy.world"/>
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    <!-- more default parameters can be changed here -->
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  </include>
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</launch>
buggygazebo/robobuggy_gazebo/package.xml
1
<?xml version="1.0"?>
2
<package>
3
  <name>robobuggy_gazebo</name>
4
  <version>0.0.0</version>
5
  <description>The robobuggy_gazebo package</description>
6

  
7
  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
8
  <!-- Example:  -->
9
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10
  <maintainer email="tahm@todo.todo">tahm</maintainer>
11

  
12

  
13
  <!-- One license tag required, multiple allowed, one license per tag -->
14
  <!-- Commonly used license strings: -->
15
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16
  <license>TODO</license>
17

  
18

  
19
  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
20
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
21
  <!-- Example: -->
22
  <!-- <url type="website">http://wiki.ros.org/robobuggy_gazebo</url> -->
23

  
24

  
25
  <!-- Author tags are optional, mutiple are allowed, one per tag -->
26
  <!-- Authors do not have to be maintianers, but could be -->
27
  <!-- Example: -->
28
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29

  
30

  
31
  <!-- The *_depend tags are used to specify dependencies -->
32
  <!-- Dependencies can be catkin packages or system dependencies -->
33
  <!-- Examples: -->
34
  <!-- Use build_depend for packages you need at compile time: -->
35
  <!--   <build_depend>message_generation</build_depend> -->
36
  <!-- Use buildtool_depend for build tool packages: -->
37
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
38
  <!-- Use run_depend for packages you need at runtime: -->
39
  <!--   <run_depend>message_runtime</run_depend> -->
40
  <!-- Use test_depend for packages you need only for testing: -->
41
  <!--   <test_depend>gtest</test_depend> -->
42
  <buildtool_depend>catkin</buildtool_depend>
43

  
44

  
45
  <!-- The export tag contains other, unspecified, tags -->
46
  <export>
47
    <!-- You can specify that this package is a metapackage here: -->
48
    <!-- <metapackage/> -->
49

  
50
    <!-- Other tools can request additional information be placed here -->
51

  
52
  </export>
53
</package>
buggygazebo/robobuggy_gazebo/worlds/robobuggy.world
1
<?xml version="1.0" ?>
2
<sdf version="1.4">
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  <world name="default">
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    <include>
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      <uri>model://ground_plane</uri>
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    </include>
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    <include>
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      <uri>model://sun</uri>
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    </include>
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    <!--<include>
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      <uri>model://gas_station</uri>
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      <name>gas_station</name>
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      <pose>-2.0 7.0 0 0 0 0</pose>
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    </include>-->
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  </world>
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</sdf>

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