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amaldoamaldo
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New description of the base
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‎iai_boxy_base_2/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(iai_boxy_base_2)
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find_package(catkin REQUIRED)
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catkin_package()

‎iai_boxy_base_2/launch/display.launch

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<launch>
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<arg
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name="model" />
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<arg
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name="gui"
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default="False" />
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<param
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name="robot_description"
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textfile="$(find iai_boxy_base_2)/robots/base.URDF" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="state_publisher" />
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<!--node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find iai_boxy_base_2)/urdf.rviz" /-->
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</launch>

‎iai_boxy_base_2/launch/upload.launch

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<launch>
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<arg name="urdf-name" default="base.URDF.xacro"/>
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<arg name="urdf-path" default="$(find iai_boxy_base_2)/robots/$(arg urdf-name)"/>
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<arg name="param-name" default="robot_description"/>
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<param name="$(arg param-name)" command="$(find xacro)/xacro.py '$(arg urdf-path)'" />
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</launch>

‎iai_boxy_base_2/meshes/base.stl

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‎iai_boxy_base_2/package.xml

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<package>
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<name>iai_boxy_base_2</name>
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<version>0.0.0</version>
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<description>
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URDF description of the base of the IAI robot named Boxy.
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</description>
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<maintainer email="[email protected]">Alexis Maldonado</maintainer>
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<maintainer email="[email protected]">Georg Bartels</maintainer>
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<author email="[email protected]">Alexis Maldonado</author>
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<license>GPLv3+</license>
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<url type="bugtracker">https://github.com/code-iai/iai_robots/issues</url>
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<url type="repository">https://github.com/code-iai/iai_robots</url>
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<buildtool_depend>catkin</buildtool_depend>
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</package>

‎iai_boxy_base_2/robots/base.URDF

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<robot
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name="base">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-0.257082749974343 -0.227847593519202 0.0535404411050965"
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rpy="0 0 0" />
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<mass
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value="70.0210745907357" />
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<inertia
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ixx="9.06122735721955"
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ixy="0.0933988942518672"
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ixz="0.665662584048376"
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iyy="12.5350462868938"
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iyz="0.00262520723302998"
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izz="7.44839974564544" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<!-- <mesh -->
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<mesh
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filename="package://iai_boxy_base_2/meshes/base.stl" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh filename="package://iai_boxy_base/meshes/base.stl" />
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</geometry>
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</collision>
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</link>
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<link
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name="laser_reference_front" />
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<joint
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name="laser_reference_front_joint"
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type="fixed">
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<origin
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xyz="0.1772 0.060745 0.150"
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rpy="0.0 0.0 0.7853975" />
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<parent
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link="base_link" />
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<child
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link="laser_reference_front" />
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<axis
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xyz="0.0 0.0 0.0" />
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</joint>
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<link
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name="laser_reference_back" />
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<joint
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name="laser_reference_back_joint"
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type="fixed">
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<origin
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xyz="-0.69357 -0.506 0.1575"
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rpy="4.9333E-15 4.5082E-15 -2.3562" />
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<parent
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link="base_link" />
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<child
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link="laser_reference_back" />
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<axis
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xyz="-1 0 0" />
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</joint>
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<!-- Definition of base_footprint -> base_link -->
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<link name="base_footprint">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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<material name="White"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.071"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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</link>
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<!-- JOINT to define base_footprint -->
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<joint name="base_footprint_joint" type="fixed">
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<origin xyz="0.36 0.25 0.16" rpy="0 0 0" />
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<parent link="base_footprint" />
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<child link="base_link" />
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</joint>
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</robot>
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‎iai_boxy_base_2/robots/base.URDF.xacro

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base.URDF

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