Merge pull request #27 from lopsided98/urdf-rewrite

Mesh and URDF for the Create1

Author: jacobperron

ca_description/README.md

@@ -4,5 +4,5 @@ A place for URDF models and meshes for iRobot's Create 1 and 2.
 
 ## Sources
 
-* Original URDF:  https://github.com/turtlebot/turtlebot_create
-* Original mesh:  https://github.com/goncabrita/roomba_robot
+* Original URDF and Create 1 mesh:  https://github.com/turtlebot/turtlebot_create
+* Original Create 2 mesh:  https://github.com/goncabrita/roomba_robot

ca_description/launch/create_1.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_1.urdf.xacro'" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
+</launch>

ca_description/launch/create_2.launch

@@ -1,6 +1,5 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_2_base.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_2.urdf.xacro'" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
 </launch>

ca_description/meshes/create_1.dae

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<robot name="create_1" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find ca_description)/urdf/create_base.urdf.xacro" />
+  <xacro:include filename="$(find ca_description)/urdf/create_1_gazebo.urdf.xacro" />
+
+  <xacro:create_base wheel_separation="0.26" base_diameter="0.3302">
+    <mesh filename="package://ca_description/meshes/create_1.dae" />
+  </xacro:create_base>
+</robot>

ca_description/meshes/create_1.tga

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+</robot>

ca_description/meshes/create_2.dae

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<robot name="create_2" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find ca_description)/urdf/create_base.urdf.xacro" />
+  <xacro:include filename="$(find ca_description)/urdf/create_2_gazebo.urdf.xacro" />
+
+  <xacro:create_base wheel_separation="0.235" base_diameter="0.3485">
+    <mesh filename="package://ca_description/meshes/create_2.dae" />
+  </xacro:create_base>
+</robot>