RoboBuggy

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)

<?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>

<?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>

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)

<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>

<?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>

<?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>