commit 0e1827615dcc0a7c1dafd20ed2e2c2cce906835d
Author: Matt Sebek <msebek@andrew.cmu.edu>
Date:   Sat Feb 1 01:00:02 2014 -0500

    Gazebogit status

diff --git a/buggygazebo/robobuggy_description/CMakeLists.txt b/buggygazebo/robobuggy_description/CMakeLists.txt
new file mode 100644
index 0000000..262dc7b
--- /dev/null
+++ b/buggygazebo/robobuggy_description/CMakeLists.txt
@@ -0,0 +1,156 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(robobuggy_description)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES robobuggy_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(robobuggy_description
+#   src/${PROJECT_NAME}/robobuggy_description.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(robobuggy_description_node src/robobuggy_description_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(robobuggy_description_node robobuggy_description_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(robobuggy_description_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS robobuggy_description robobuggy_description_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robobuggy_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/buggygazebo/robobuggy_description/package.xml b/buggygazebo/robobuggy_description/package.xml
new file mode 100644
index 0000000..4688161
--- /dev/null
+++ b/buggygazebo/robobuggy_description/package.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<package>
+  <name>robobuggy_description</name>
+  <version>0.0.0</version>
+  <description>The robobuggy_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="tahm@todo.todo">tahm</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robobuggy_description</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file
diff --git a/buggygazebo/robobuggy_description/urdf/robobuggy.urdf b/buggygazebo/robobuggy_description/urdf/robobuggy.urdf
new file mode 100644
index 0000000..15586ae
--- /dev/null
+++ b/buggygazebo/robobuggy_description/urdf/robobuggy.urdf
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<robot name="robobuggy">
+
+   <!-- Main Body -->
+   <link name='base_link'>
+      <collision name='collision'>
+        <origin xyz="0 0 .1" rpy="0 0 0"/>
+        <geometry>
+          <box  size=".4 .2 .1"/>
+        </geometry>
+      </collision>
+
+      <visual name='visual'>
+        <origin xyz="0 0 .1 " rpy="0 0 0"/>
+        <geometry>
+          <box  size=".4 .2 .1"/>
+        </geometry>
+      </visual>
+
+     <inertial>
+        <mass value="1e-5" />
+        <origin xyz="0 0 .1 " rpy="0 0 0"/>
+        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+     </inertial>
+  </link> 
+
+
+  <!-- Left Wheel -->
+  <link name="left_wheel">
+    <collision name="collision">
+      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
+      <geometry>
+         <cylinder  length="0.05" radius="0.1"/>
+      </geometry>
+    </collision>
+    <visual name="visual">
+      <origin xyz="0.2 0.13 0.1" rpy="0 1.5707 1.5707"/>
+      <geometry>
+        <cylinder  length="0.05" radius="0.1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <mass value="1e-5" />
+      <origin xyz="0.2 0.13 0.1"/>
+      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+    </inertial>
+  </link>
+
+
+  <joint type="revolute" name="joint1">
+    <!-- origin taken from generated pose for joint , form the file that was created by gzsdf print -->
+    <origin xyz="0.2 0.13 0.1" rpy="-1.56451e-13 1.5707 1.5707"/>
+    <child link="left_wheel">left_wheel</child>
+    <parent link="base_link">base_link</parent>
+    <axis xyz="0 1 0"/>
+    <limit effort="30" velocity="1.0"  lower="-100" upper="100" />
+  </joint>
+</robot>
diff --git a/buggygazebo/robobuggy_gazebo/CMakeLists.txt b/buggygazebo/robobuggy_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..97aceca
--- /dev/null
+++ b/buggygazebo/robobuggy_gazebo/CMakeLists.txt
@@ -0,0 +1,156 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(robobuggy_gazebo)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES robobuggy_gazebo
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a cpp library
+# add_library(robobuggy_gazebo
+#   src/${PROJECT_NAME}/robobuggy_gazebo.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(robobuggy_gazebo_node src/robobuggy_gazebo_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(robobuggy_gazebo_node robobuggy_gazebo_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(robobuggy_gazebo_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS robobuggy_gazebo robobuggy_gazebo_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robobuggy_gazebo.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/buggygazebo/robobuggy_gazebo/launch/robobuggy.launch b/buggygazebo/robobuggy_gazebo/launch/robobuggy.launch
new file mode 100644
index 0000000..db63a60
--- /dev/null
+++ b/buggygazebo/robobuggy_gazebo/launch/robobuggy.launch
@@ -0,0 +1,11 @@
+<launch>
+  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find robobuggy_gazebo)/worlds/robobuggy.world"/>
+
+
+    <!-- more default parameters can be changed here -->
+
+
+  </include>
+</launch>
\ No newline at end of file
diff --git a/buggygazebo/robobuggy_gazebo/package.xml b/buggygazebo/robobuggy_gazebo/package.xml
new file mode 100644
index 0000000..9705a40
--- /dev/null
+++ b/buggygazebo/robobuggy_gazebo/package.xml
@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<package>
+  <name>robobuggy_gazebo</name>
+  <version>0.0.0</version>
+  <description>The robobuggy_gazebo package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="tahm@todo.todo">tahm</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robobuggy_gazebo</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file
diff --git a/buggygazebo/robobuggy_gazebo/worlds/robobuggy.world b/buggygazebo/robobuggy_gazebo/worlds/robobuggy.world
new file mode 100644
index 0000000..815fd8d
--- /dev/null
+++ b/buggygazebo/robobuggy_gazebo/worlds/robobuggy.world
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!--<include>
+      <uri>model://gas_station</uri>
+      <name>gas_station</name>
+      <pose>-2.0 7.0 0 0 0 0</pose>
+    </include>-->
+  </world>
+</sdf>
\ No newline at end of file
