Skip to content

Commit d6a08f9

Browse files
HoangGiang93HoangGiang93
authored
Merge branch 'master' into FixIssues
2 parents 8b98edc + 772c0e5 commit d6a08f9

12 files changed

+2829
-150
lines changed

‎iai_apartment/launch/apartment_bringup.launch

+1-2
Original file line numberDiff line numberDiff line change
@@ -2,8 +2,7 @@
22

33
<node pkg="tf" type="static_transform_publisher" name="iai_apartment_root_link_broadcaster" args="0 0 0 0 0 0 map iai_apartment/apartment_root 25"></node>
44

5-
<arg name="model" default="$(find iai_apartment)/urdf/apartment.xacro" />
6-
<param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
5+
<include file="$(find iai_apartment)/launch/upload_apartment.launch" />
76

87
<node name="apartment_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
98
<remap from="robot_description" to="apartment_description" />

‎iai_apartment/launch/upload_apartment.launch

+6
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,6 @@
1+
<launch>
2+
3+
<arg name="model" default="$(find iai_apartment)/urdf/apartment.urdf" />
4+
<param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
5+
6+
</launch>

‎iai_kitchen/launch/kitchen_obj_bringup.launch

+30
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,30 @@
1+
<?xml version="1.0"?>
2+
3+
<launch>
4+
5+
<include file="$(find iai_kitchen)/launch/upload_kitchen_obj.launch" />
6+
7+
<node pkg="tf"
8+
type="static_transform_publisher"
9+
name="iai_kitchen_room_link_broadcaster"
10+
args="0.0 0.0 0. 0.0 0. 0. map iai_kitchen/world 25">
11+
</node>
12+
13+
<node pkg="joint_state_publisher" type="joint_state_publisher"
14+
name="kitchen_joint_state_publisher" output="screen">
15+
<remap from="robot_description" to="kitchen_description"/>
16+
<param name="rate" value="25"/>
17+
<remap from="/joint_states" to="/kitchen/joint_states" />
18+
<rosparam param="source_list">
19+
- /kitchen/cram_joint_states
20+
</rosparam>
21+
</node>
22+
23+
<node name="kitchen_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
24+
<remap from="robot_description" to="kitchen_description"/>
25+
<remap from="joint_states" to="/kitchen/joint_states"/>
26+
<param name="tf_prefix" value="iai_kitchen"/>
27+
<param name="publish_frequency" value="3"/>
28+
</node>
29+
30+
</launch>

‎iai_kitchen/launch/upload_kitchen_obj.launch

-27
Original file line numberDiff line numberDiff line change
@@ -2,34 +2,7 @@
22

33
<launch>
44

5-
<!-- statically publish on /tf the urdf of iai kitchen -->
6-
<!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
7-
the right way and the right place -->
8-
95
<arg name="model" default="$(find iai_kitchen)/urdf_obj/iai_kitchen_python.urdf.xacro"/>
106
<param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
117

12-
<node pkg="tf"
13-
type="static_transform_publisher"
14-
name="iai_kitchen_room_link_broadcaster"
15-
args="0.0 0.0 0. 0.0 0. 0. map iai_kitchen/world 25">
16-
</node>
17-
18-
<node pkg="joint_state_publisher" type="joint_state_publisher"
19-
name="kitchen_joint_state_publisher" output="screen">
20-
<remap from="robot_description" to="kitchen_description"/>
21-
<param name="rate" value="25"/>
22-
<remap from="/joint_states" to="/kitchen/joint_states" />
23-
<rosparam param="source_list">
24-
- /kitchen/cram_joint_states
25-
</rosparam>
26-
</node>
27-
28-
<node name="kitchen_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
29-
<remap from="robot_description" to="kitchen_description"/>
30-
<remap from="joint_states" to="/kitchen/joint_states"/>
31-
<param name="tf_prefix" value="iai_kitchen"/>
32-
<param name="publish_frequency" value="3"/>
33-
</node>
34-
358
</launch>

‎iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro

+26-23
Original file line numberDiff line numberDiff line change
@@ -2,9 +2,9 @@
22

33
<robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
44

5-
<xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin">
5+
<xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin include_wall_7:=true">
66
<!-- LINKS -->
7-
7+
88
<link name="kitchen_wall_1">
99
<xacro:sphere_inertia radius="0" mass="0"/>
1010
<visual>
@@ -20,7 +20,7 @@
2020
</geometry>
2121
</collision>
2222
</link>
23-
23+
2424
<link name="kitchen_wall_2">
2525
<xacro:sphere_inertia radius="0" mass="0"/>
2626
<visual>
@@ -36,7 +36,7 @@
3636
</geometry>
3737
</collision>
3838
</link>
39-
39+
4040
<link name="kitchen_wall_3">
4141
<xacro:sphere_inertia radius="0" mass="0"/>
4242
<visual>
@@ -52,7 +52,7 @@
5252
</geometry>
5353
</collision>
5454
</link>
55-
55+
5656
<link name="kitchen_wall_4">
5757
<xacro:sphere_inertia radius="0" mass="0"/>
5858
<visual>
@@ -68,7 +68,7 @@
6868
</geometry>
6969
</collision>
7070
</link>
71-
71+
7272
<link name="kitchen_wall_5">
7373
<xacro:sphere_inertia radius="0" mass="0"/>
7474
<visual>
@@ -84,9 +84,9 @@
8484
</geometry>
8585
</collision>
8686
</link>
87-
88-
89-
87+
88+
89+
9090
<link name="kitchen_wall_6">
9191
<xacro:sphere_inertia radius="0" mass="0"/>
9292
<visual>
@@ -101,8 +101,9 @@
101101
<box size="1 0.15 0.7" />
102102
</geometry>
103103
</collision>
104-
</link>
104+
</link>
105105

106+
<xacro:if value="${include_wall_7 == 'true'}">
106107
<link name="kitchen_wall_7">
107108
<xacro:sphere_inertia radius="0" mass="0"/>
108109
<visual>
@@ -118,67 +119,69 @@
118119
</geometry>
119120
</collision>
120121
</link>
121-
122+
123+
</xacro:if>
124+
122125
<!-- JOINTS -->
123-
126+
124127
<link name="kitchen_walls"/>
125-
128+
126129
<joint name="walls_main_joint" type="fixed">
127130
<xacro:insert_block name="origin" />
128131
<parent link="${parent}"/>
129132
<child link="kitchen_walls"/>
130133
</joint>
131-
134+
132135
<joint name="wall_1_joint" type="fixed">
133136
<origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
134137
<parent link="kitchen_walls"/>
135138
<child link="kitchen_wall_1"/>
136139
</joint>
137-
<!--
140+
<!--
138141
<joint name="wall_1_joint" type="fixed">
139142
<origin xyz="1 0.562175 0" rpy="0 0 0" />
140143
<parent link="kitchen_walls"/>
141144
<child link="kitchen_wall_1"/>
142145
</joint>
143-
-->
146+
-->
144147
<joint name="wall_2_joint" type="fixed">
145148
<origin xyz="2.87551 0 0" rpy="0 -0 1.5708" />
146149
<parent link="kitchen_walls"/>
147150
<child link="kitchen_wall_2"/>
148151
</joint>
149-
152+
150153
<joint name="wall_3_joint" type="fixed">
151154
<origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
152155
<parent link="kitchen_walls"/>
153156
<child link="kitchen_wall_3"/>
154157
</joint>
155-
158+
156159
<joint name="wall_4_joint" type="fixed">
157160
<origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
158161
<parent link="kitchen_walls"/>
159162
<child link="kitchen_wall_4"/>
160163
</joint>
161-
164+
162165
<joint name="wall_5_joint" type="fixed">
163166
<origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
164167
<parent link="kitchen_walls"/>
165168
<child link="kitchen_wall_5"/>
166169
</joint>
167-
170+
168171
<joint name="wall_6_joint" type="fixed">
169172
<origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
170173
<parent link="kitchen_walls"/>
171174
<child link="kitchen_wall_6"/>
172175
</joint>
173-
176+
<xacro:if value="${include_wall_7 == 'true'}">
174177
<joint name="wall_7_joint" type="fixed">
175178
<origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
176179
<parent link="kitchen_walls"/>
177180
<child link="kitchen_wall_7"/>
178181
</joint>
179-
182+
</xacro:if>
180183
<gazebo reference="kitchen_wall_6">
181184
<material>Gazebo/DarkGrey</material>
182185
</gazebo>
183186
</xacro:macro>
184-
</robot>
187+
</robot>

0 commit comments

Comments
 (0)