diff --git a/README.md b/README.md index 154a72cd2..823899d1c 100644 --- a/README.md +++ b/README.md @@ -26,6 +26,7 @@ git submodule foreach --recursive git lfs pull - `factory_sim` - `grinding_sim` - `hangar_sim` +- `husky_a300_mock` - `kitchen_sim` - `lab_sim` - `lunar_sim` diff --git a/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst b/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst new file mode 100644 index 000000000..65b857ad8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/CHANGELOG.rst @@ -0,0 +1,577 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package clearpath_platform_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.9.15 (2026-08-18) +------------------- + +2.9.14 (2026-08-12) +------------------- +* Update hams.urdf.xacro (`#373 `_) + Fixed the HAMS mount plate rotation by setting parent to hams_base_link instead of default_mount +* Added Github PR templates, precommit and contributing notes. Also, updated CI, updated issue templates and README. (`#372 `_) +* Contributors: Tony Baltovski, thickey-cpr + +2.9.13 (2026-08-07) +------------------- + +2.9.12 (2026-07-24) +------------------- +* Added support for A300 witn indoor tires. (`#362 `_) +* Contributors: Tony Baltovski + +2.9.11 (2026-07-14) +------------------- + +2.9.10 (2026-07-02) +------------------- + +2.9.9 (2026-06-02) +------------------ + +2.9.8 (2026-05-28) +------------------ + +2.9.7 (2026-05-21) +------------------ +* Change a200 and w200 control parameter default from 'diff_fwd' to 'diff_4wd' (`#338 `_) +* Change j100 control parameter from 'diff_fwd' to 'diff_4wd' (`#336 `_) +* Contributors: Steve Macenski, Tony Baltovski + +2.9.6 (2026-04-14) +------------------ + +2.9.5 (2026-03-25) +------------------ +* Re-added vertical off-set for A200 wheels. (`#318 `_) +* Contributors: Tony Baltovski + +2.9.4 (2026-03-13) +------------------ + +2.9.3 (2026-02-26) +------------------ +* Added use_platform_controllers for R100. (`#313 `_) +* Contributors: Tony Baltovski + +2.9.2 (2026-02-26) +------------------ + +2.9.1 (2026-02-11) +------------------ + +2.9.0 (2026-02-11) +------------------ +* Fix: Update cmake version to 3.20 and fixed CI (`#295 `_) + * Update cmake version to 3.20 + * Switch to ubuntu:noble container + * Use updated repos update action + * Install python and pip + * Add apt update + * Update repos update action version +* Contributors: luis-camero + +2.8.5 (2026-01-30) +------------------ + +2.8.4 (2025-12-22) +------------------ + +2.8.3 (2025-12-16) +------------------ +* Add missing Gazebo IMU topic tags for omnidirectional platforms (`#286 `_) + * Add missing Gazebo IMU topic tags for omnidirectional platforms + Fixes missing tag in IMU sensor definitions for R100, DO100, + and DO150 platforms. Without this tag, Gazebo publishes IMU data on + default topic names instead of the namespace-aware topics expected by + ros_gz_bridge, causing IMU data to not reach ROS 2 in simulation. + This issue only affected omnidirectional platforms (mecanum wheel + configurations). Differential drive platforms (J100, W200, DD100, DD150) + were already fixed in v0.2.10. + Tested on R100 platform with Gazebo Harmonic and ROS 2 Jazzy. + IMU data now successfully bridges to /r100_0000/sensors/imu_0/data_raw + and is consumed by ekf_localization_node for sensor fusion. + * Fixed indent. + --------- + Co-authored-by: Michael Wescott +* Replaced ignition references with gz (`#283 `_) +* Fix: Generic (`#280 `_) + * Check for generic before creating drivetrain parameters + * Add teleop_joy default parameter file for generic robot + * Generic teleop values + * Generic control file without a controller + * Generic empty robot + * Update path to cvontrol in empty generic URDF +* Contributors: Roni Kreinin, Tony Baltovski, luis-camero + +2.8.2 (2025-11-06) +------------------ + +2.8.1 (2025-10-28) +------------------ +* Add guard to include zed only once +* Contributors: Luis Camero + +2.8.0 (2025-10-23) +------------------ + +2.7.4 (2025-09-18) +------------------ + +2.7.3 (2025-09-16) +------------------ + +2.7.2 (2025-09-08) +------------------ +* Fix: Use Platform Controllers (`#257 `_) + Add ros2_control only when use_platform_controllers is true +* Contributors: luis-camero + +2.7.1 (2025-09-08) +------------------ +* Fix: Ridgeback rear lights and cover colors (`#254 `_) +* Contributors: SyZbidi + +2.7.0 (2025-08-25) +------------------ +* Drivetrains (`#237 `_) + * Moved meshes to wheels folder + Mecanum drivetrain for do100 + * Generic drivetrain URDFs + * Pass hardware plugin string rather than block + * Added drivetrain control parameters + * Removed 2WD for Dingo-O + * DO150 + * Dingo-D + * R100 + * A300 urdf + * Fixed xacro generate print + * Generic teleop configs per controller + Platform specific teleop only defines velocity limits + * A200 drivetrain changes + * W200 drivetrain urdf + * Updated A300 meshes + Mecanum and caster support + * Separated caster wheel into swivel and wheel links + * Fixed joystick axis mapping + * Updated wheel_separation_multiplier for fwd and rwd on A300 + * URDF structure changes for J100 + Updated A200 and W200 to be 4WD + * Linting +* Add the mounting link for the charger's 2D lidar (`#241 `_) +* Contributors: Chris Iverach-Brereton, Roni Kreinin + +2.6.4 (2025-07-29) +------------------ + +2.6.3 (2025-07-18) +------------------ +* Fix: Disable Platform Controllers in Manipulator Controllers (`#239 `_) + Add flag to disable platform controllers for manipulation controller manager +* Contributors: luis-camero + +2.6.2 (2025-07-14) +------------------ + +2.6.1 (2025-07-07) +------------------ + +2.6.0 (2025-07-04) +------------------ +* Add the third antenna (bluetooth) to the top of the AMP frame (`#231 `_) +* Add A300 AMP attachments (`#200 `_) + * Add meshes, URDFs for the A300 AMP and AMP Observer attachments + * Add spotlight attachment with light plugin for simulation + * Add Seyond description with lower-than-reality resolution & correct FoV for simulation. Fix math for calculating the number of samples + * Add GPS plugins for the Fixposition description +* Contributors: Chris Iverach-Brereton + +2.5.1 (2025-06-17) +------------------ + +2.5.0 (2025-05-29) +------------------ +* Fix: PACS Limits (`#215 `_) +* Contributors: luis-camero + +2.3.2 (2025-04-30) +------------------ + +2.3.1 (2025-04-16) +------------------ +* [clearpath_platform_description] Updated Ridgeback R100 raiser height to 0.07m from 0.055m. (`#201 `_) +* Contributors: Tony Baltovski + +2.3.0 (2025-04-11) +------------------ + +2.2.2 (2025-04-09) +------------------ + +2.2.1 (2025-04-07) +------------------ + +2.2.0 (2025-03-11) +------------------ + +2.1.0 (2025-01-31) +------------------ + +2.0.3 (2025-01-21) +------------------ + +2.0.2 (2025-01-20) +------------------ + +2.0.1 (2025-01-17) +------------------ + +2.0.0 (2025-01-16) +------------------ +* Add the A200 Observer backpack attachment (`#122 `_) + * Add the A200 Observer backpack attachment +* [clearpath_platform_description] Fixed Ridgeback R100 rear light colour. (`#127 `_) +* Add PTZ sim support (`#125 `_) + * Now that axis_camera is released via OSRF, depend on the official package, remove duplicate meshes + * Rename Gazebo plugins for Jazzy compatibility + * Modify Axis camera URDFs to using the axis_camera meshes. This lets us control the gazebo topics. Fix the GZ topic names. Camera data is now visible in the simulation + * Add joint controllers for the pan & tilt actuators. This provides velocity control over the simulated camera +* Add a placeholer URDF for the AMP mount, update meshes (`#123 `_) + * Add a placeholer URDF for the AMP mount; STL & final dimensions to come at a later date + * Default to treaded wheels, flip all the wheel models so the treads visually go in the correct direction + * Update the top plate, chassis, livery, smooth wheel, and status light meshes. Closes CPE87-2102 + * Catch unsupported platforms/accessories in vcan generation tests +* A300 (`#118 `_) + * Add A300 meshes + * Move A300 meshes + * Add A300 URDF + * Added A300 control configuration files + * Remove unstamped parameter, deprecated + * Use clearpath_hardware_interface LynxHardware + --------- + Co-authored-by: Luis Camero +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* Remove all references to clearpath_platform +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* Update simulation support for Jazzy (`#117 `_) + * Rename gazebo plugins to use new gz nomenclature instead of ign/ignition. Use stamped velocity messages. + * Restructure the twist_mux yaml file to be more legible, remove the parameters that are overwritten by the launch file anyway + * Put use_stamped back just for the sake of being explicit. Add use_stamped directly to the launch file + * Fix the tests to catch unsupported platforms & accessories +* Rename ign\_ -> gz\_ for gazebo dependencies, comment-out missing jazzy dependencies (for now) +* Contributors: Chris Iverach-Brereton, Luis Camero, Roni Kreinin, Tony Baltovski, luis-camero + +1.0.0 (2024-11-25) +------------------ +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Remove all references to clearpath_platform +* Add collision tags for MoveIt to avoid these objects (`#108 `_) +* [clearpath_platform_description] Fixed gazebo_controllers param file. (`#107 `_) +* Contributors: Luis Camero, Tony Baltovski, luis-camero + +0.3.4 (2024-10-08) +------------------ + +0.3.3 (2024-10-04) +------------------ + +0.3.2 (2024-09-29) +------------------ +* Fix outstanding merge conflict +* Contributors: Luis Camero + +0.3.1 (2024-09-23) +------------------ + +0.3.0 (2024-09-19) +------------------ +* Changes. +* Add PACS mounting locations to Dingo top plate +* Standard mesh names and height parameter for tower shoulder +* R100 attachment rework +* Add dingo top plate URDF +* 0.3.0 Release Candidate with Main Changes (`#81 `_) + * Added tests + * Added action to build from release and source + * Generator linting erros + * Customization linting errors + * Linting + * Fix: Remove IP address from discovery server launch so it listens on all NICs + * Changes. + * 0.2.8 + * Add sysctl config file that changes ipfrag settings to support receiving large messages + * Added Zed URDF + * Added Zed to description generator + * Modified common parameter generation to always flatten + * Changes. + * 0.2.9 + * Missing important remapping to mirror hardware topics + * Added topic to gazebo plugins + * Updated topic names to match gazebo message types + * Topics of simulated onboard sensors + * Realsense adds optical links when in simulator + * Changes. + * 0.2.10 + * Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF + * Fixes styling issues + * Set spawner as super client + * Changes. + * 0.2.11 + * Removed duplicate class + * Use ROS1 covariance values + * Updated renamed macanum drive controller + * Enable gazebo friction plugin on DingoO + --------- + Co-authored-by: Hilary Luo + Co-authored-by: Tony Baltovski + Co-authored-by: Steve Macenski + Co-authored-by: robbiefish +* Set PumaHardware in R100 +* URDF Mecanum Updates +* Switched to puma_hardware +* DingoD 1.5 Puma Hardware +* 0.2.8 +* Changes. +* 0.2.7 +* Changes. +* All Warthog attachments default to 0 +* Aligned attachment links +* Added argument to prevent platform hardware from loading +* Define inertial box xacro in the arm plate urdf to be used by other platforms +* Added argument to toggle manipulator controllers +* 0.2.6 +* Changes. +* 0.2.5 +* Changes. +* switch finding meshes to use the package:// command +* 0.2.4 +* Changes. +* 0.2.3 +* Changes. +* 0.2.2 +* Changes.xx +* 0.2.1 +* Changes. +* PACS top plate was not centred with generated frames +* Added Ridgeback attachments +* Added do150 as copy of do100 +* R100 mecanum +* Only load mecanum wheels in simulation +* Removed wheel slip plugin +* Dingo O mecanum wheels +* Fixed rocker and small covariance +* Initial Ridgeback +* Initial add do100 +* Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero + +* Add PACS mounting locations to Dingo top plate +* Standard mesh names and height parameter for tower shoulder +* R100 attachment rework +* Add dingo top plate URDF +* Added tests +* Added action to build from release and source +* Generator linting erros +* Customization linting errors +* Linting +* Fix: Remove IP address from discovery server launch so it listens on all NICs +* Add sysctl config file that changes ipfrag settings to support receiving large messages +* Added Zed URDF +* Added Zed to description generator +* Modified common parameter generation to always flatten +* Missing important remapping to mirror hardware topics +* Added topic to gazebo plugins +* Updated topic names to match gazebo message types +* Topics of simulated onboard sensors +* Realsense adds optical links when in simulator +* Modifies platform param to add GQ7 IMU data to ekf_localization and adds GQ7 URDF +* Fixes styling issues +* Set spawner as super client +* Removed duplicate class +* Use ROS1 covariance values +* Updated renamed macanum drive controller +* Enable gazebo friction plugin on DingoO +* Contributors: Hilary Luo, Luis Camero, Tony Baltovski, luis-camero + +0.2.11 (2024-08-08) +------------------- + +0.2.10 (2024-07-25) +------------------- +* Topics of simulated onboard sensors +* Missing important remapping to mirror hardware topics +* Contributors: Luis Camero, Steve Macenski + +0.2.9 (2024-05-28) +------------------ + +0.2.8 (2024-05-14) +------------------ + +0.2.7 (2024-04-08) +------------------ +* All Warthog attachments default to 0 +* Aligned attachment links +* Contributors: Luis Camero + +0.2.6 (2024-01-18) +------------------ + +0.2.5 (2024-01-15) +------------------ +* switch finding meshes to use the package:// command +* Contributors: Hilary Luo + +0.2.4 (2024-01-11) +------------------ + +0.2.3 (2024-01-08) +------------------ + +0.2.2 (2024-01-04) +------------------ + +0.2.1 (2023-12-21) +------------------ +* PACS top plate was not centred with generated frames +* Contributors: Hilary Luo + +0.2.0 (2023-12-08) +------------------ +* Added W200 Hardware interface. +* Use path substitution +* Removed testing visual for track virtual wheel +* Added wheel parameters to all robot +* Color and wheel are now parameters +* Updated collision model +* Added w200 tracks +* First pass +* Removed serial from URDF +* Accurate mounts shift +* Added DD150 +* Re-add caster +* Added default mount +* Removed friction on rear_caster +* Added dd100 +* Removed transmission and cleaned up URDF +* Removed erroneaous change +* Removed print +* Updated gazebo simulation +* Changed default parent to default_mount +* Set color appropriately +* Arm Mount at base +* Mounts re-numbering +* Formatted W200 attachment URDF +* Changed top_chassis_link to default_mount +* Changed mid_mount to default_mount +* Renamed sensor_arch namespace +* Changed sensor arch parent +* Added mid_mount +* Origin to bumper +* Added to materials +* Attachment URDF match changes +* Add gazebo controller to URDF without macro +* Moved gazebo controller to common +* Fixes to control parameters and naming +* Base diff drive hardware and hardware interface class + J100 and W200 inherit from diff drive + Moved each platform into its own folder +* Fixed package names and added w200 urdf macro +* Initial Warthog addition +* Contributors: Hilary Luo, Luis Camero, Roni Kreinin, Tony Baltovski + +0.1.3 (2023-11-03) +------------------ +* [clearpath_platform_description] Removed un-used ros2_control params. +* Contributors: Tony Baltovski + +0.1.2 (2023-10-02) +------------------ + +0.1.1 (2023-08-25) +------------------ +* Update gps and imu names to fix generated topic +* Added Ignition frame names to simulate the real robot +* Contributors: Hilary Luo + +0.1.0 (2023-08-17) +------------------ +* Added fenders for J100 +* Contributors: Roni Kreinin + +0.0.9 (2023-07-31) +------------------ + +0.0.8 (2023-07-24) +------------------ +* Updated J100 imu and navsat links +* Contributors: Roni Kreinin + +0.0.7 (2023-07-19) +------------------ +* Renamed URDF and meshes directories +* Contributors: Luis Camero + +0.0.6 (2023-07-13) +------------------ + +0.0.5 (2023-07-12) +------------------ +* [clearpath_platform_description] Fixed unused dependency in CMakeLists.txt. +* Contributors: Tony Baltovski + +0.0.4 (2023-07-07) +------------------ + +0.0.3 (2023-07-05) +------------------ +* Updated husky track value +* Wheel slip plugin + Significantly improved jackal odom in sim +* Contributors: Roni Kreinin + +0.0.2 (2023-07-04) +------------------ + +0.0.1 (2023-06-21) +------------------ +* Updated launch writer make writing different object types easier + Localization parameter fixes + Updated gazebo wheel friction +* Added namespacing support +* Increased J100 navsat update rate to 10hz +* Jackal sim support +* Added GPS + Added realsense gazebo parameters +* Added gazebo IMU plugin +* use_sim_time support + Added lidar gazebo plugins +* Sim fixes +* Fixed dependencies +* Moved description generator to clearpath_generators + Added accessory urdf's + Use launch arg for choosing controller +* [clearpath_platform_description] Made the serial_port an arg for the a200 and reduced polling timeout. +* Moved IMU filter to platform launch + Moved localization into a separate launch file + Updated decoration urdfs + Added structure urdf +* Remapped topics to match API +* Bishop sensors/mounts +* Added velodyne +* [clearpath_platform_description] Fixed hardware plugin for A200. +* control launch fixes + Added ark enclosure for j100 top_plate +* J100 support +* Standard urdf and yaml file name and path + Fixed spacing in urdfs +* Description classes +* PACS mounts + Common PACS Riser + Hokuyo and novatel description fixes +* Initial commit with platform, decoration and mounts generating +* [clearpath_platform_description] Fixed mesh paths. +* [clearpath_sensors_description] Moved Novatel and Hokuyo into sensors from J100. +* [clearpath_platform_description] Renamed all dashes to underscores. +* [clearpath_platform_description] Fixed incorrect path. +* Move clearpath_description to clearpath_platform_description and switched robot names to robot model number. +* Contributors: Roni Kreinin, Tony Baltovski diff --git a/src/external_dependencies/clearpath_platform_description/CMakeLists.txt b/src/external_dependencies/clearpath_platform_description/CMakeLists.txt new file mode 100644 index 000000000..aa4e6bcfa --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.20) +project(clearpath_platform_description) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY launch meshes urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/external_dependencies/clearpath_platform_description/LICENSE b/src/external_dependencies/clearpath_platform_description/LICENSE new file mode 100644 index 000000000..6080cef2f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/LICENSE @@ -0,0 +1,28 @@ +BSD 3-Clause License + +Copyright (c) 2023, clearpathrobotics + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/src/external_dependencies/clearpath_platform_description/launch/description.launch.py b/src/external_dependencies/clearpath_platform_description/launch/description.launch.py new file mode 100644 index 000000000..6cc95ecb8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/launch/description.launch.py @@ -0,0 +1,123 @@ + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, GroupAction +from launch.substitutions import (Command, FindExecutable, + PathJoinSubstitution, LaunchConfiguration) +from launch_ros.actions import Node +from launch_ros.parameter_descriptions import ParameterValue + + +def generate_launch_description(): + # Launch Configurations + setup_path = LaunchConfiguration('setup_path') + robot_description_command = LaunchConfiguration('robot_description_command') + use_sim_time = LaunchConfiguration('use_sim_time') + namespace = LaunchConfiguration('namespace') + use_fake_hardware = LaunchConfiguration('use_fake_hardware') + use_manipulation_controllers = LaunchConfiguration('use_manipulation_controllers') + use_platform_controllers = LaunchConfiguration('use_platform_controllers') + + # Launch Arguments + arg_setup_path = DeclareLaunchArgument( + 'setup_path', + default_value='/etc/clearpath/' + ) + + arg_namespace = DeclareLaunchArgument( + 'namespace', + default_value='', + description='Robot namespace' + ) + + arg_use_fake_hardware = DeclareLaunchArgument( + 'use_fake_hardware', + default_value='false', + description='Use fake hardware if true' + ) + + arg_use_manipulation_controllers = DeclareLaunchArgument( + 'use_manipulation_controllers', + default_value='false', + description='Use manipulation controllers if true' + ) + + arg_use_platform_controllers = DeclareLaunchArgument( + 'use_platform_controllers', + default_value='true', + description='Use platform controllers if true' + ) + + # Paths + robot_urdf = PathJoinSubstitution([ + setup_path, 'robot.urdf.xacro']) + config_control = PathJoinSubstitution([ + setup_path, 'platform/config/control.yaml']) + + # Get URDF via xacro + arg_robot_description_command = DeclareLaunchArgument( + 'robot_description_command', + default_value=[ + PathJoinSubstitution([FindExecutable(name='xacro')]), + ' ', + robot_urdf, + ' ', + 'is_sim:=', + use_sim_time, + ' ', + 'gazebo_controllers:=', + config_control, + ' ', + 'namespace:=', + namespace, + ' ', + 'use_fake_hardware:=', + use_fake_hardware, + ' ', + 'use_manipulation_controllers:=', + use_manipulation_controllers, + ' ', + 'use_platform_controllers:=', + use_platform_controllers, + ] + ) + + arg_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', + choices=['true', 'false'], + default_value='false', + description='Use simulation time' + ) + + robot_description_content = ParameterValue( + Command(robot_description_command), + value_type=str + ) + + group_action_state_publishers = GroupAction([ + # Robot State Publisher + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{ + 'robot_description': robot_description_content, + 'use_sim_time': use_sim_time, + }], + remappings=[ + ('/tf', 'tf'), + ('/tf_static', 'tf_static'), + ('joint_states', 'platform/joint_states')] + ), + ]) + + ld = LaunchDescription() + # Args + ld.add_action(arg_use_sim_time) + ld.add_action(arg_setup_path) + ld.add_action(arg_namespace) + ld.add_action(arg_use_fake_hardware) + ld.add_action(arg_use_manipulation_controllers) + ld.add_action(arg_use_platform_controllers) + ld.add_action(arg_robot_description_command) + # Nodes + ld.add_action(group_action_state_publishers) + return ld diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl new file mode 100755 index 000000000..e28113c71 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lidar_mount.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2adb38323508694bf5ca4a0b2fa68a15016ab6489a41cfc3075c9dd63910105e +size 45684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae new file mode 100644 index 000000000..fd52be4a8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0869d6ac8dffb4cb19b985ef0986654a63989a49d272a3e9743c2d7a3f15a4d0 +size 85037 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.stl new file mode 100644 index 000000000..1dd4c852c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/accessories/lms1xx_mount.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80ab9165d98c9b95d2fab37044e5b8a25026d6304162389389a7d08923a6a391 +size 73084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.dae new file mode 100644 index 000000000..4edf45cc2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6090c6963dcd602d29c5099d40044ff8e46160ef58f4fb83e908cba237c2b3f5 +size 9749 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.stl new file mode 100644 index 000000000..5ef26985a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/300_mm_sensor_arch.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a95f751d2f8261f3244fd53a2cda794e33f9e425129affe95ca835e34efa6221 +size 2884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.dae new file mode 100644 index 000000000..33a4c2287 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a06e90fef8fcbfb3065d408802e303d5c152666f3ed3d1b437a08d20a83cadf1 +size 9931 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.stl new file mode 100644 index 000000000..fd17e8804 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/510_mm_sensor_arch.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3b5eb7e87783289bcaea4bf627f1aeee38c135ea1b130d64bdfe69b9a5cc53e +size 3084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper.dae new file mode 100644 index 000000000..6b3370097 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a48ac4ee3b160b623813f085440ccc520cd2f14ade321864b0e7be97bfd06d68 +size 151569 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper2.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper2.dae new file mode 100644 index 000000000..62ba25436 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper2.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aafc335d418e7d0b956bdc1a012b6bec2c26337a2154e90a45be5b272c11401a +size 141684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper3.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper3.dae new file mode 100644 index 000000000..8dba45289 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper3.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf8bc8d3674b7492d6b5a430fc1f8889aaf51002447ae3333f188f887d8a8884 +size 178254 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper_extension.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper_extension.dae new file mode 100644 index 000000000..223c48c73 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/bumper_extension.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ececae32cdd67166e07ed25e3d8c5e67674d3d5bbfd2f989c1484f1e8c696482 +size 20503 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate.dae new file mode 100644 index 000000000..2ab97e91d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:532e12bbf8154ba8bf85eabb52cba62e092cd752e297d703e548786c31486d66 +size 12073 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate_collision.stl new file mode 100644 index 000000000..7414129b2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/large_top_plate_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51fecd2fa8fc39acb226b558cb697cd275bc02d8059e75a62a6a8e8f49124412 +size 5084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_masts.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_masts.stl new file mode 100644 index 000000000..ce9a1d858 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_masts.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1e2b1f426caf729c18f6d0acd82750addcfebfbe05955c5847686a14dbe1683 +size 1066484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_shell.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_shell.stl new file mode 100644 index 000000000..0da0133ee --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/observer_backpack_shell.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:683932e1eabd550b85f412e1eda207047fd4db6b92048ebe3217bd8840d9c79b +size 77684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/pacs_top_plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/pacs_top_plate.stl new file mode 100644 index 000000000..f7ec42855 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/pacs_top_plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ed793b048a82056bb6ae702a0ba327355eae51c2c83dac65fad2cbb0e059265 +size 2484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.dae new file mode 100644 index 000000000..02f81fdf7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:afde2b5ae61c3a76afe38e92216b1340acdd49f6fb2ec313e68f8e832509798d +size 4635 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.stl new file mode 100644 index 000000000..e4bc86c0a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/top_plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c7eff8fc0f9dfe96d836a5d00b89ea2c754985440e3a3db7a010c5807b8491f +size 1484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.dae new file mode 100644 index 000000000..4f16e0f85 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:344fe5b8d4df2ac81e42a5b4915e7e47f643fe0ce216f64ecd20109a12fbe06c +size 460310 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.stl new file mode 100755 index 000000000..bedbb8cf7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/attachments/user_rail.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9289df409dec6a91e0bf6be606b30b83c50864975361f57f629f8166fa913289 +size 444884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.dae new file mode 100644 index 000000000..987ecd83c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f95a5675ee19a5e6b4ed40499f4a3ebffda744d93beec1f165f1ffada635c74 +size 462539 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.stl new file mode 100755 index 000000000..d0365688d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/base_link.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52107dc0be1fc5a9b16549d1ea03e71a4732cd80dc261a8403f9d671173bd97a +size 408284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.dae new file mode 100644 index 000000000..710ee4e0b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a4b3a66736074eba019f1d4d473ffe66cde1155b4cfd8903cb056809286d1de +size 1225751 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.stl new file mode 100755 index 000000000..3f8e53e51 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/top_chassis.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b19fc4c116647c179714a9e50d0aa275feb833eeb84de83571a64f5e0ca15ae2 +size 908484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/indoor.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/indoor.dae new file mode 100644 index 000000000..2adddfbee --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/indoor.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:389c5a5929448e4816fb8874a7b79c5e84c3cd34aa422dd45ea4ab568d18ada8 +size 4112975 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.dae b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.dae new file mode 100644 index 000000000..e0b0f6ad7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4415b8c1fa6bdc1a61b97387b778e31a0e25c5e9bfb1840c73687b6cb4f05767 +size 2800384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.stl b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.stl new file mode 100755 index 000000000..8e9aac94b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a200/wheels/outdoor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6cdb0f65efac76467db6e27371420ed1275cb2c93ed7a41ed8b41b98a7da671 +size 1362884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper.dae new file mode 100644 index 000000000..4618dc917 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f74541357f2bedadc12ea6879298de54c4002588c6424cef0d35746671eab21d +size 559165 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper_collision.stl new file mode 100644 index 000000000..acdc7126d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/bumper_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf74818742cc1842bb79a186c70358294facafc87ea3b4c2c93b39077ce4f431 +size 5384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl new file mode 100644 index 000000000..bb1729b0d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_access_panels.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e81ec2363d497e33997852b4b8190eb81b7f5af118fd2aa6962d8b5afc886825 +size 2884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_arch.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_arch.stl new file mode 100644 index 000000000..2a847970c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_arch.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26cfc49f349c499b8bbdb6b4794209fc3ae1aa6cfeb38c551c9831c31fb93607 +size 5884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_bluetooth_antenna.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_bluetooth_antenna.stl new file mode 100644 index 000000000..42c5fccad --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_bluetooth_antenna.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13ee697b94a8325d53721aa88d49975fbbf3ce422f18134421c5c0133eb77c55 +size 7284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl new file mode 100644 index 000000000..d1d65178d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cb3edd0fff5707097058d4a00c01e645426f11af4f5f2fbedd3085cf3898d75 +size 7884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl new file mode 100644 index 000000000..4de39e47c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_enclosure.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf24122c92bb95906a163857663b787b0d5afc147f430ca652acbbcb57054c21 +size 7084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl new file mode 100644 index 000000000..24f459965 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13f1adb037b94e704772d4b706d8961464518d2b8e9bb0c172d6f41221d0d88b +size 14484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/top_plate.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/top_plate.dae new file mode 100644 index 000000000..9df28a87e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/top_plate.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:494e7aa919c438e79a3250092312e8ccd586993512590e5d63d14748185be7a4 +size 28196 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl new file mode 100644 index 000000000..ff37cf703 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae497531f0934ba5c125b471be9d5a26d6ea1047e0665a9d0819c478c360adc3 +size 3684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis.dae new file mode 100644 index 000000000..309c82e1e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d031d91359749cc9b62d76d7d8a96cdb3d87f733a7e79173570b879c68ccf3f9 +size 3120269 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis_collision.stl new file mode 100644 index 000000000..5efb23108 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/chassis_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:914da37ef8a0611ffd3e2a1a3892bb5b9dc47e00442de104b0d760401cfb14c5 +size 9884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_plate.stl new file mode 100644 index 000000000..ea9bc0ffd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c4733bfab76303be1def574e785862c8cc7b7ae154a96f1c0c2af6b6479c2de +size 162084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_swivel.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_swivel.stl new file mode 100644 index 000000000..97a3cd7a3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_bracket_swivel.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3676efc0fa48ca9aa3f6fcdfb3613c3e62e36efcea1e8b5e87f1cb4b0d35e921 +size 298384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_primary.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_primary.stl new file mode 100644 index 000000000..1852afafe --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_primary.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b32d1265a7d6200dd3ea038ca09791d8883cac864773f4b1fb8fc28d5ef8f16 +size 76684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_secondary.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_secondary.stl new file mode 100644 index 000000000..29a7151d8 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/caster_flange_secondary.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b86f09dd3fbe4af57e78d51d05559d90a1d1df565fd58929a28561cc2121c3dc +size 76684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/motor.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/motor.stl new file mode 100644 index 000000000..0cce2f165 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/motor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a447d5095cb323fca92e8ad68632ffff36cf5677a81c610d41aab2893e4c83e +size 2330284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_beam.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_beam.stl new file mode 100644 index 000000000..d68283e2d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_beam.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a6697213e1e8ac9de765d528027a41718536729f471ab6f4d38e92ebf6c9aea +size 150284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_spacer.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_spacer.stl new file mode 100644 index 000000000..b014864c7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/suspension_spacer.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cf1ad7153579a53c5e98905ac0011e1b92819bbcaa3efce1968e2bdce04092ca +size 37484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/caster.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/caster.stl new file mode 100644 index 000000000..151226280 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/caster.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3715d92f9479e2ae483af90f5bd688c30cf1b0bf89bdff0ddcc49b73117c2b4 +size 977484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/indoor.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/indoor.dae new file mode 100644 index 000000000..2adddfbee --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/indoor.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:389c5a5929448e4816fb8874a7b79c5e84c3cd34aa422dd45ea4ab568d18ada8 +size 4112975 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_primary.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_primary.stl new file mode 100644 index 000000000..4a4438ea7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_primary.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80a0137c23055924e5dbad94c0df8d9dc42f7dd5973332c2e29a500774300a5a +size 2401484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_secondary.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_secondary.stl new file mode 100644 index 000000000..2f5de6de0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/mecanum_secondary.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5622fdb6b1144369258fe9b0d4b0fd943911f12a7f30a62fd000acb150f36c84 +size 5457984 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_left.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_left.stl new file mode 100644 index 000000000..55c827a9a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_left.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23d474fc7826e41737b065d5f5d4674c88b910e764634e62b079835e3882bbae +size 4781384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_right.stl b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_right.stl new file mode 100644 index 000000000..8482f9cd1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/drivetrain/wheels/outdoor_right.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf7b48da8da6338b1c178f31e194f469d05159e2012aef4a063491b258cc7e08 +size 4781384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/livery.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/livery.dae new file mode 100644 index 000000000..7f2e6be7a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/livery.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:542c92dc19d027f1e29050d1fdf29451d065416d8cb069b5066b16b3aa6f8bce +size 609709 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/a300/status_lights.dae b/src/external_dependencies/clearpath_platform_description/meshes/a300/status_lights.dae new file mode 100644 index 000000000..7dba18552 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/a300/status_lights.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:999ec044492ad9ed2edf5b4855eb64a4220b9cf2fbd812a32ab1d118fdb22adf +size 87672 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/dd100/attachments/pacs_top_plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/dd100/attachments/pacs_top_plate.stl new file mode 100644 index 000000000..8c869751d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/dd100/attachments/pacs_top_plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b84cee2c3049865b155333765247d14a716c842b762ac911b3d7282a657dc41c +size 1484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis.dae b/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis.dae new file mode 100644 index 000000000..0fa0c8de4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e337a13e83aa17ee67fe6c57716d84bf3e19f9856ffb6f192857072abd27915 +size 462315 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis_collision.stl new file mode 100644 index 000000000..dcbb93412 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/dd100/chassis_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3bc51252e5e9b49fac6b1e81589b15b329aa8ae788ee26260a0f5692206d296 +size 2284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/dd100/wheels/indoor.stl b/src/external_dependencies/clearpath_platform_description/meshes/dd100/wheels/indoor.stl new file mode 100644 index 000000000..ab239d60d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/dd100/wheels/indoor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b4a7172e634854348d74274baf572ab0e9b498747e1cc811745cb0439b996c0 +size 6484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis.dae b/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis.dae new file mode 100644 index 000000000..0e5b95de5 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf0144bb30975739343a9b811ff0330943bcbbb823bfb1b3021b98d65bcf0373 +size 592846 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis_collision.stl new file mode 100644 index 000000000..5fe0d7a2e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/do100/omni_chassis_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a9fad652d77a77cccc50d65c425e1ef43adb7fcfdc846a84c1d8c211764b4dd0 +size 3884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/do100/wheels/mecanum.dae b/src/external_dependencies/clearpath_platform_description/meshes/do100/wheels/mecanum.dae new file mode 100644 index 000000000..020dd70ac --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/do100/wheels/mecanum.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8aeb4f8f1cf36e7c8c39da21d791020c17ade75e3cc1bcfc03c04bfa37ce3263 +size 20737237 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/ark_enclosure.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/ark_enclosure.stl new file mode 100644 index 000000000..29dfbbd7b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/ark_enclosure.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1b035f6b39c933b7b64b0359e431797434162ec991ff7066553f0d5b37efd7a +size 114084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/default_fender.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/default_fender.stl new file mode 100755 index 000000000..91aa88a55 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/default_fender.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adadb2ad503eed172beec9c13c1fd6c5028091f98ed291869e05fb296f8875aa +size 4284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl new file mode 100644 index 000000000..6286f0128 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/attachments/sensor_fender.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b4997938a76dd0f74cc2515f44164f90de3e4af319ea3e6b33822b59d87c581 +size 54084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/bridge_plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/bridge_plate.stl new file mode 100755 index 000000000..8b31f6d31 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/bridge_plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d30332f9f9a8d910b2e4401a09fa69b3ec7e1e6c3cacab81b483fc8714462b29 +size 1890884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_beam.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_beam.stl new file mode 100644 index 000000000..ac9b00a29 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_beam.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ebf2f980caf129e6dad954788eff0dfc815d5617a089925ecc65a2f297888f2 +size 61484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_bracket.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_bracket.stl new file mode 100644 index 000000000..1f809da3f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/camera_bracket.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6abf04f732adbf9bbe78dbec558497e74531554965fb79c28b782ee021e86889 +size 88482 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/j100_base.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/j100_base.stl new file mode 100755 index 000000000..361746574 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/j100_base.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c3b5f30039d8cc3152218f743072f8bc6968484017b989bad2ed41ee2dbda818 +size 49684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/kinect_mount.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/kinect_mount.stl new file mode 100644 index 000000000..dd62a9377 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/kinect_mount.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed6f03b03f68c6d1087b7f6e30ea89fafdf7d8259f43733a36c5bf273c3c311c +size 208984 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_inverted_bracket.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_inverted_bracket.stl new file mode 100644 index 000000000..16a3d296a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_inverted_bracket.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b488b601c3c154bc18aa6a9fd79c97eb363cb005e43b628b034d713a34cd6983 +size 119084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_upright_bracket.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_upright_bracket.stl new file mode 100644 index 000000000..7950819db --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/sick_lms1xx_upright_bracket.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f91ca844d5d86ef99f5dd96896a38ddcab18c905ea38c85f6f1e79abcbb03b3 +size 101284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_beam.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_beam.stl new file mode 100644 index 000000000..1e6f1fe90 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_beam.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae4704338d2ca83c80176b12195abe9cfc44c44adb9e7b718f508f4340ed301b +size 10284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_bracket.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_bracket.stl new file mode 100644 index 000000000..903f25df9 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/stereo_camera_bracket.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f7ed871d138af9d78fc44cbcdd3eb26c9bf179ff96b74ecb6c4d2b02237fb70 +size 14084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/velodyne_tower.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/velodyne_tower.stl new file mode 100644 index 000000000..19d2c83b4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/velodyne_tower.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d9c479235f946107213099d65d592ad7f0029c9812cb0529e12f8ec093b461b +size 145684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/wheels/outdoor.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/wheels/outdoor.stl new file mode 100755 index 000000000..9f49aee19 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/wheels/outdoor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a39bc365311f097b1328f7b39426939c98a299f1ef3d745f590168509d367fe4 +size 133684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/j100/wibotic_bumper.stl b/src/external_dependencies/clearpath_platform_description/meshes/j100/wibotic_bumper.stl new file mode 100644 index 000000000..ef536aaa3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/j100/wibotic_bumper.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fdad7b1f4e3681733ba2c102132ab2988f3ad7de6e9f46ba13dd64c91030993 +size 143084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_mount.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_mount.stl new file mode 100644 index 000000000..75ba2f5b3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_mount.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75803bbb489e05cd254b04dbb6d56ac9c17554938d7e721c00436cead43c6989 +size 48884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_top.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_top.stl new file mode 100644 index 000000000..3dd0f01f6 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/hams_top.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fc88c2274c23783d626559fa278513db935b12d6eb4b4472e093c8df4269c54 +size 20284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/leg.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/leg.stl new file mode 100644 index 000000000..bc2a2058f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/leg.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c698c89f53cba8554264c484ac389f5549a93a715f8399b806d3749ff6a6cd14 +size 23284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body.stl new file mode 100644 index 000000000..abaa3a94f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ccc0e275deaf6983e2529d165e16a03e68440591ec28ab56ab42eb42bd826d1b +size 922484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body_collision.stl new file mode 100644 index 000000000..88798d157 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_body_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8d1c1db11f0fe36aa4f95247c0a1bf388f5a1975ae8c493207f1e22392ca4bd +size 22084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder.stl new file mode 100644 index 000000000..4b58f1387 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcf7c969e67081ad3fa057060d109c42686a41acf5ef90288387987f43f260cc +size 27184 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder_collision.stl new file mode 100644 index 000000000..d1a62c32d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/attachments/tower_shoulder_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f37b750c9970ba1079ca5a8196b7fae5b8da45b2d76cd94beebba30f64ea7271 +size 3384 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/axle.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/axle.stl new file mode 100755 index 000000000..07a7908d4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/axle.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:276446c240aa5c0663d28909d3b92508b2e505319a8403e7c5caba5ff380dccd +size 7284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/body-collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/body-collision.stl new file mode 100644 index 000000000..7d644eea7 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/body-collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d2d72c247acf221fcf308cf938337ab35bb1c6214c4cb762d5ac62081bdd4f7 +size 16284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/body.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/body.stl new file mode 100644 index 000000000..8ad188c83 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/body.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b71b65f379dc16571438c72df664c1f28492f9dd3976aaf8c942b28cc6da4cce +size 29484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/end-cover.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/end-cover.stl new file mode 100755 index 000000000..36f3024c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/end-cover.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e577c85c96d9b46656c8131b622cb7cbd87c593fd97fa0891d4632ee6165f67 +size 39884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/lights.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/lights.stl new file mode 100644 index 000000000..56fbfb7b3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/lights.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:abe634f650f4174e9ee23f1d9d078778c60f7c389e48499af8dfe28665a3d1d6 +size 6884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/rocker.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/rocker.stl new file mode 100755 index 000000000..e9e9b60ec --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/rocker.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c73ccebcf37019764c9b94a9f74550fdce136fe089318e7f487938204140923 +size 8084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/side-cover.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/side-cover.stl new file mode 100644 index 000000000..14d924f01 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/side-cover.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97de4812cbad7250bdd6f7c7ae2f55a3bed1c52ebcbb4830f957db786fcd54de +size 1484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/top.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/top.stl new file mode 100644 index 000000000..03da4c085 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/top.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:961e137910535358df656469950062e72e4d2f7a0ac27dc4be179048fed5f1e4 +size 15684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/r100/wheels/mecanum.stl b/src/external_dependencies/clearpath_platform_description/meshes/r100/wheels/mecanum.stl new file mode 100755 index 000000000..4965bca62 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/r100/wheels/mecanum.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68c992ec1bc75715ad14925abfd9925ce1c7c1782118e6e7141830335032ab48 +size 11884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/arm-mount-plate.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/arm-mount-plate.stl new file mode 100644 index 000000000..0e2023220 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/arm-mount-plate.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6a9e7598db7f1aa920d4fb907c8312420dd80bd1f84d4bb9509bd1cea3f761 +size 6484 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead-collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead-collision.stl new file mode 100644 index 000000000..5c4995389 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead-collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:836783efc427c42d127f4c77641ac4484ff942eb5d3545b6b4d3083c10d9e633 +size 1084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead.stl new file mode 100644 index 000000000..4bceeaafb --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/bulkhead.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aae8d318fc0f785b42ffb029f27303534c4862e40c2a12aaf5bbf12c6edb06f1 +size 35084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis-collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis-collision.stl new file mode 100644 index 000000000..35de17c72 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis-collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5a5e83c1cd7e523546d9156a6ba587b77b147b96fa2bf2e539d6cf878725d8 +size 2884 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis.stl new file mode 100644 index 000000000..a018dec0d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/chassis.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57ecd11bb8bd4ee8cb1c939318f2a6f6a0ab2709ac89995e445bdb747f2fa42d +size 124534 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/diff-link.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/diff-link.stl new file mode 100644 index 000000000..c2b9b9868 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/diff-link.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7843835210625e4d3c34fdfab5e19131210480df80c38496f19ac84b3b06995 +size 15684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/e-stop.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/e-stop.stl new file mode 100644 index 000000000..f17d9b30a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/e-stop.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:308cd250b0dc14ea5352468517ac42f2543b3532a25d878ac1e0eb4cd9f6b475 +size 31434 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/fenders.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/fenders.stl new file mode 100644 index 000000000..60c03d1ac --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/fenders.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff053d056af7210a65d7c0524b79af9eec968fb798079c12f45a47510a8789b4 +size 3084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/generator.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/generator.stl new file mode 100644 index 000000000..22c1c9265 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/generator.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97346d834a5d5f83be6a6b7505eadac3d827a17f892bbae987c06bdaa830171f +size 220284 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/light.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/light.stl new file mode 100644 index 000000000..e80f531c2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/light.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:619a641723120da44bd00b94c3a17a3457d5197dff6374d833e2b8a7eeeba11a +size 10684 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl new file mode 100644 index 000000000..d48811f65 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/rocker.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8cb34b80b97409813ac93d2b6897b30b9fe5c7529f0a41292910685fe424a1b +size 23084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl new file mode 100644 index 000000000..533efa628 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/susp-link.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96cfe881ee02749c193de154df0a807da6d76101d7c43ea902986e056ca357f6 +size 66984 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl new file mode 100644 index 000000000..86f7c9c80 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/outdoor.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7507f7cde1194f6b0725e4f2d4728f6229c87a6ac9022c4fb8ca24fb429050ca +size 634084 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae new file mode 100644 index 000000000..2a997450b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks.dae @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2830ebb1786836f8f6e1f28e7278927f4d223f707b487160352ffcd7e8130ebd +size 78199 diff --git a/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl new file mode 100644 index 000000000..8000e45de --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/meshes/w200/wheels/tracks_collision.stl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86b5383840baeaba4e1bfa7e7737e24724aa9694320b0206a29c42d284a418ad +size 4684 diff --git a/src/external_dependencies/clearpath_platform_description/package.xml b/src/external_dependencies/clearpath_platform_description/package.xml new file mode 100644 index 000000000..c173a7ab3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/package.xml @@ -0,0 +1,31 @@ + + + + clearpath_platform_description + 2.9.15 + Clearpath Platform URDF descriptions + + Ryan Gariepy + Prasenjit Mukherjee + Mike Purvis + Paul Bovbel + Luis Camero + Roni Kreinin + Tony Baltovski + + Luis Camero + Roni Kreinin + Tony Baltovski + + BSD + + ament_cmake + + robot_state_publisher + urdf + xacro + + + ament_cmake + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro new file mode 100644 index 000000000..a627866d9 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/a200.urdf.xacro @@ -0,0 +1,173 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + clearpath_hardware_interfaces/A200Hardware + ${front_wheel_radius * 2} + 5.0 + 1.0 + 0.1 + $(arg serial_port) + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro new file mode 100644 index 000000000..184d13e39 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/bumper.urdf.xacro @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro new file mode 100644 index 000000000..1e986292c --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/observer_backpack.urdf.xacro @@ -0,0 +1,145 @@ + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkYellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro new file mode 100644 index 000000000..3b3f2466e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/sensor_arch.urdf.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..72c633913 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/attachments/top_plate.urdf.xacro @@ -0,0 +1,190 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..127e2a6d6 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels.urdf.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..98cb121ce --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a200_indoor_wheel_radius} + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..b7b4f10f0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a200/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a200_outdoor_wheel_radius} + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro new file mode 100644 index 000000000..ff1823986 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/a300.urdf.xacro @@ -0,0 +1,188 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_enclosure.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_enclosure.urdf.xacro new file mode 100644 index 000000000..47105c33e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_enclosure.urdf.xacro @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkYellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro new file mode 100644 index 000000000..b1b646dae --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/amp_sensor_arch.urdf.xacro @@ -0,0 +1,139 @@ + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkYellow + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro new file mode 100644 index 000000000..71c3fb86f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/bumper.urdf.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro new file mode 100644 index 000000000..2aa349a36 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/spotlight.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + 1 1 1 0.5 + .1 .1 .1 1 + + 20 + 0.8 + 0.75 + 0.01 + + 0 0 0 + + 1.0471975511965976 + 2.0943951023931953 + 1.0 + + true + false + + + ${name}_light_link + + 0 0 0 0 0 0 + ${name}_light + + + false + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..885b3da43 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/top_plate.urdf.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro new file mode 100644 index 000000000..4c6766c86 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/attachments/wireless_charger.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro new file mode 100644 index 000000000..2700dde7f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/caster_flange.urdf.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro new file mode 100644 index 000000000..56d048bcd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/motor.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro new file mode 100644 index 000000000..11ec391c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/suspension_beam.urdf.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..3e93131f5 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels.urdf.xacro @@ -0,0 +1,127 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/caster.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/caster.urdf.xacro new file mode 100644 index 000000000..aa4f0a0c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/caster.urdf.xacro @@ -0,0 +1,109 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.5 + + + + + + + + + + + + + + + + + + + + + + + + + false + 1000000.0 + 100.0 + 0.05 + 0.05 + 1 0 0 + 0.00 + 1 + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..d7d22d059 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a300_indoor_wheel_radius} + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..b508f18bb --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 113 + ${a300_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${fdir_side} 0 + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..02217442b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/a300/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.75 + 0.75 + 113 + ${a300_outdoor_wheel_radius} + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro new file mode 100644 index 000000000..9dc28ea12 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/common.urdf.xacro @@ -0,0 +1,126 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..cc8ddf4a0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/attachments/top_plate.urdf.xacro @@ -0,0 +1,93 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro new file mode 100644 index 000000000..889618a1d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/dd100.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..c31f965cd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro new file mode 100644 index 000000000..fa2422938 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.0 + 0.0 + 1.0 + 1.0 + + + + + + + + + + + + + + + + + + + + false + 1000000.0 + 100.0 + 0.2 + 0.2 + 1 0 0 + 0.00 + 1 + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro new file mode 100644 index 000000000..5bdb866b3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 39.2 + ${dd100_indoor_wheel_radius} + + + + + + Gazebo/DarkGrey + false + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd150/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro new file mode 100644 index 000000000..6b454f163 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/dd150/dd150.urdf.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro new file mode 100644 index 000000000..01560a4f6 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/do100.urdf.xacro @@ -0,0 +1,169 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..d066a4424 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..a7e561180 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 20 + ${do100_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${side} 0 + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..0a5f405fc --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do150/attachments/top_plate.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro new file mode 100644 index 000000000..c2329bd4e --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/do150/do150.urdf.xacro @@ -0,0 +1,170 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro new file mode 100644 index 000000000..5223dfd8a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro new file mode 100644 index 000000000..2b74f75e2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro new file mode 100644 index 000000000..091ebdb6d --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro @@ -0,0 +1,27 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro new file mode 100644 index 000000000..c6b4384a2 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + + + ${hardware_plugin} + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro new file mode 100644 index 000000000..3d15a0540 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro new file mode 100644 index 000000000..63338f9a1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/empty.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro new file mode 100644 index 000000000..435652cfd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/generic/gazebo.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + $(arg gazebo_controllers) + + ~/odom:=platform/odom + ~/cmd_vel:=platform/cmd_vel + /tf:=tf + /tf_static:=tf_static + /diagnostics:=diagnostics + /dynamic_joint_states:=platform/dynamic_joint_states + joint_states:=platform/joint_states + ~/reference:=platform/cmd_vel + ~/odometry:=platform/odom + $(arg namespace) + + + + + + + true + true + true + 50 + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro new file mode 100644 index 000000000..24fb58f01 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/fender.urdf.xacro @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro new file mode 100644 index 000000000..d3255660a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/attachments/top_plate.urdf.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..de0ee278b --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..047900be1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 40 + ${j100_outdoor_wheel_radius} + + + + + + Gazebo/DarkGrey + false + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro new file mode 100644 index 000000000..76873e7c4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/j100/j100.urdf.xacro @@ -0,0 +1,147 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + + + + + + + + + 1 + 10 + gps_0_link + $(arg namespace)/sensors/gps_0/navsat + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro new file mode 100644 index 000000000..aa65d8807 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/box.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro new file mode 100644 index 000000000..6dcc4caed --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/cylinder.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro new file mode 100644 index 000000000..f73a44710 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/frame.urdf.xacro @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro new file mode 100644 index 000000000..4b175ff59 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/mesh.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro new file mode 100644 index 000000000..5f57fe3a1 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/links/sphere.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro new file mode 100644 index 000000000..05d9c0b76 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/fams.urdf.xacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro new file mode 100644 index 000000000..ed60f1eb0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/hams.urdf.xacro @@ -0,0 +1,95 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro new file mode 100644 index 000000000..0d80d0066 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/legs.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro new file mode 100644 index 000000000..7b204014a --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/attachments/tower.urdf.xacro @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..6ed9a24f3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro new file mode 100644 index 000000000..4092887f0 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 200 + ${r100_mecanum_wheel_radius} + + + + + + + + + + 1.0 + 0.0 + 1 ${side} 0 + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro new file mode 100644 index 000000000..5954f8cfa --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/r100.urdf.xacro @@ -0,0 +1,281 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro new file mode 100644 index 000000000..14b8b06de --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/r100/rocker.urdf.xacro @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro new file mode 100644 index 000000000..2ced8acf3 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/arm_plate.urdf.xacro @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro new file mode 100644 index 000000000..afb99e7e4 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/bulkhead.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro new file mode 100644 index 000000000..e5aa6dd81 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/attachments/generator.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro new file mode 100644 index 000000000..ec89a2478 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/diff_unit.urdf.xacro @@ -0,0 +1,116 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + 0.9 0.9 0.9 1 + + + + + + + + + + + + + + + + + + + + + + 0.9 0 0 1 + 0.9 0 0 1 + 0.9 0 0 1 + 0.9 0 0 1 + + + + + + false + + + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro new file mode 100644 index 000000000..012adff0f --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels.urdf.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro new file mode 100644 index 000000000..1c6980dbd --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/outdoor.urdf.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 686 + ${w200_outdoor_wheel_radius} + + + + + + false + 0.5 + 0.5 + + Gazebo/DarkGrey + + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro new file mode 100644 index 000000000..31c893305 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/drivetrain/wheels/tracks.urdf.xacro @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1.0 + 1.0 + 686 + ${w200_tracks_radius} + + + + + + false + 0.5 + 0.5 + + Gazebo/DarkGrey + + + diff --git a/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro b/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro new file mode 100644 index 000000000..e4dc2f132 --- /dev/null +++ b/src/external_dependencies/clearpath_platform_description/urdf/w200/w200.urdf.xacro @@ -0,0 +1,207 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 50 + true + imu_0_link + $(arg namespace)/sensors/imu_0/data_raw + + + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + clearpath_hardware_interfaces/W200Hardware + 0.6 + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + -25 + 25 + + + + + + + + + diff --git a/src/husky_a300_mock/CMakeLists.txt b/src/husky_a300_mock/CMakeLists.txt new file mode 100644 index 000000000..1d82fed3d --- /dev/null +++ b/src/husky_a300_mock/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.22) +project(husky_a300_mock) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY + config + description + launch + objectives + waypoints + DESTINATION + share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/src/husky_a300_mock/LICENSE b/src/husky_a300_mock/LICENSE new file mode 100644 index 000000000..574ef0790 --- /dev/null +++ b/src/husky_a300_mock/LICENSE @@ -0,0 +1,25 @@ +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + + * Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. diff --git a/src/husky_a300_mock/README.md b/src/husky_a300_mock/README.md new file mode 100644 index 000000000..88cebac34 --- /dev/null +++ b/src/husky_a300_mock/README.md @@ -0,0 +1,22 @@ +# husky_a300_mock + +A minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank world: no sensors, no +environment assets, mock hardware. Built for fast iteration, decoupled from a full simulated +environment. + +The robot description composes the real A300 platform body from +[`clearpath_platform_description`](../external_dependencies/clearpath_platform_description) +(vendored from [`clearpathrobotics/clearpath_common@jazzy`](https://github.com/clearpathrobotics/clearpath_common), +BSD-licensed) with a `mock_components/GenericSystem` ros2_control block and a stock +[`diff_drive_controller`](https://control.ros.org/jazzy/doc/ros2_controllers/diff_drive_controller/doc/userdoc.html) +named `platform_velocity_controller`, matching the real robot's controller naming and calibration +(`wheel_separation: 0.562`, `wheel_separation_multiplier: 1.75`, `wheel_radius: 0.1625`, +`wheels_per_side: 2`). `/cmd_vel` (`geometry_msgs/TwistStamped`) and `/odom` +(`nav_msgs/Odometry`) are remapped to those plain top-level topic names from +`platform_velocity_controller`'s own namespaced topics. + +The Pose Jog and Joint Jog UI panels are wired to the `base` group only to avoid a MoveIt Pro +launch crash on an empty jog config; neither is functionally usable on this robot (no IK-capable +group, no per-joint velocity controller). + +For detailed documentation see: [MoveIt Pro Documentation](https://docs.picknik.ai/) diff --git a/src/husky_a300_mock/config/config.yaml b/src/husky_a300_mock/config/config.yaml new file mode 100644 index 000000000..c739a28ec --- /dev/null +++ b/src/husky_a300_mock/config/config.yaml @@ -0,0 +1,110 @@ +############################################################### +# +# This configures the robot to work with MoveIt Pro +# +############################################################### + +runtime_launch_file: + package: "husky_a300_mock" + path: "launch/runtime.launch.xml" + +# Baseline hardware configuration parameters for MoveIt Pro. +# [Required] +hardware: + # If the MoveIt Pro Agent should launch the ros2 controller node. + # [Optional, default=True] + launch_control_node: True + + # If the MoveIt Pro Agent should launch the robot state publisher. + # [Optional, default=True] + launch_robot_state_publisher: True + + # Parameters used to configure the robot description through XACRO. + # A URDF and SRDF are both required. + # [Required] + robot_description: + urdf: + package: "husky_a300_mock" + path: "description/husky_a300_blank_world.xacro" + srdf: + package: "husky_a300_mock" + path: "config/moveit/husky_a300.srdf" + +# Sets ROS global params for launch. +# [Optional] +ros_global_params: + # Whether or not to use simulated time. + # [Optional, default=False] + use_sim_time: False + +# Configuration files for MoveIt. +# [Required] +moveit_params: + # Used by the Waypoint Manager to save joint states from this joint group. + joint_group_name: "base" + + kinematics: + package: "husky_a300_mock" + path: "config/moveit/kinematics.yaml" + pose_jog: + package: "husky_a300_mock" + path: "config/moveit/pose_jog.yaml" + joint_jog: + package: "husky_a300_mock" + path: "config/moveit/joint_jog.yaml" + + publish: + planning_scene: True + geometry_updates: True + state_updates: True + transforms_updates: True + +# Configuration for launching ros2_control processes. +# [Required, if using ros2_control] +ros2_control: + config: + package: "husky_a300_mock" + path: "config/control/husky_a300.ros2_control.yaml" + # MoveIt Pro will load and activate these controllers at start up to ensure they are available. + # [Optional, default=[]] + controllers_active_at_startup: + - "joint_state_broadcaster" + - "platform_velocity_controller" + controllers_inactive_at_startup: [] + controllers_not_managed: [] + # platform_velocity_controller's topics are namespaced under its own controller name (Jazzy + # default). Remap them to the plain /cmd_vel and /odom names Nav2 expects, so no rework is + # needed downstream. + # [Optional, default=[]] + controller_shared_topics: + /cmd_vel: + - "/platform_velocity_controller/cmd_vel" + /odom: + - "/platform_velocity_controller/odom" + +# Configuration for loading behaviors and objectives. +# [Required] +objectives: + # List of plugins for loading custom behaviors. + # [Required] + behavior_loader_plugins: + core: + - "moveit_pro::behaviors::CoreBehaviorsLoader" + - "moveit_pro::behaviors::ConverterBehaviorsLoader" + - "moveit_pro::behaviors::VisionBehaviorsLoader" + # Specify source folder for objectives + # [Required] + objective_library_paths: + core_objectives: + package_name: "moveit_pro_objectives" + relative_path: "objectives/core" + # This config adds no custom Objectives, but the last entry must resolve to a + # package source directory inside the user workspace, so keep it in-workspace. + husky_a300_mock_objectives: + package_name: "husky_a300_mock" + relative_path: "objectives" + # Specify the location of the saved waypoints file. + # [Required] + waypoints_file: + package_name: "husky_a300_mock" + relative_path: "waypoints/waypoints.yaml" diff --git a/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml new file mode 100644 index 000000000..b1d1794ff --- /dev/null +++ b/src/husky_a300_mock/config/control/husky_a300.ros2_control.yaml @@ -0,0 +1,56 @@ +controller_manager: + ros__parameters: + update_rate: 100 # Hz + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + platform_velocity_controller: + type: diff_drive_controller/DiffDriveController + +# Husky A300 is a 4-wheel skid-steer base: two wheels per side driven together. Controller name +# and calibration values match the real robot's controllers_a300.yaml, not the URDF geometry: +# wheel_separation/wheel_radius here are the loaded rolling-radius calibration (0.562/0.1625), +# not the wheel's physical dimensions (0.1651 in the URDF). +platform_velocity_controller: + ros__parameters: + left_wheel_names: ["front_left_wheel_joint", "rear_left_wheel_joint"] + right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"] + wheels_per_side: 2 + + wheel_separation: 0.562 + wheel_separation_multiplier: 1.75 + wheel_radius: 0.1625 + left_wheel_radius_multiplier: 1.0 + right_wheel_radius_multiplier: 1.0 + + publish_rate: 50.0 + odom_frame_id: odom + base_frame_id: base_link + # A state estimator (fuse, matching hangar_sim's config) will own odom->base_link once the + # sensor port lands; until then keep the controller's own TF so it is not broken mid-port. + enable_odom_tf: true + + # Mock hardware has no independent wheel-slip dynamics to feed back, so run open loop: + # command velocity integrates directly into published odometry. + open_loop: true + + cmd_vel_timeout: 0.5 + + linear.x.has_velocity_limits: true + linear.x.has_acceleration_limits: true + linear.x.max_velocity: 0.8 + # Asymmetric accel/decel limits carried from the real robot. Sign convention is the + # controller's: max_acceleration/max_deceleration_reverse are >= 0, the other two <= 0. + linear.x.max_acceleration: 2.0 + linear.x.max_deceleration: -4.0 + linear.x.max_acceleration_reverse: -2.0 + linear.x.max_deceleration_reverse: 4.0 + + angular.z.has_velocity_limits: true + angular.z.has_acceleration_limits: true + angular.z.max_velocity: 2.0 + angular.z.max_acceleration: 4.0 + angular.z.max_deceleration: -4.0 + angular.z.max_acceleration_reverse: -4.0 + angular.z.max_deceleration_reverse: 4.0 diff --git a/src/husky_a300_mock/config/moveit/husky_a300.srdf b/src/husky_a300_mock/config/moveit/husky_a300.srdf new file mode 100644 index 000000000..f09f8e848 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/husky_a300.srdf @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/husky_a300_mock/config/moveit/joint_jog.yaml b/src/husky_a300_mock/config/moveit/joint_jog.yaml new file mode 100644 index 000000000..1c65fd269 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/joint_jog.yaml @@ -0,0 +1,7 @@ +# diff_drive_controller is a kinematics controller, not a per-joint velocity controller, so the +# "base" group's wheel joints are not joint-joggable - Nav2 drives the base directly via /cmd_vel. +# An empty planning_groups/controllers pair crashes MoveIt Pro's launch (evaluates to an untyped +# empty parameter tuple), so this points at "base" inertly instead - Joint Jog is never invoked +# for this robot. +planning_groups: ["base"] +controllers: ["platform_velocity_controller"] diff --git a/src/husky_a300_mock/config/moveit/kinematics.yaml b/src/husky_a300_mock/config/moveit/kinematics.yaml new file mode 100644 index 000000000..f5d1cde17 --- /dev/null +++ b/src/husky_a300_mock/config/moveit/kinematics.yaml @@ -0,0 +1,2 @@ +# The "base" group has no IK-capable chain (wheel joints only), so no solver is configured. +{} diff --git a/src/husky_a300_mock/config/moveit/pose_jog.yaml b/src/husky_a300_mock/config/moveit/pose_jog.yaml new file mode 100644 index 000000000..2d290eb1c --- /dev/null +++ b/src/husky_a300_mock/config/moveit/pose_jog.yaml @@ -0,0 +1,6 @@ +# The base has no arm and no IK-capable group, so Cartesian pose jogging does not apply here - +# Nav2 drives the base directly via /cmd_vel. An empty planning_groups/controllers pair crashes +# MoveIt Pro's launch (evaluates to an untyped empty parameter tuple), so this points at "base" +# inertly instead - Pose Jog is never invoked for this robot. +planning_groups: ["base"] +controllers: ["platform_velocity_controller"] diff --git a/src/husky_a300_mock/description/husky_a300_blank_world.xacro b/src/husky_a300_mock/description/husky_a300_blank_world.xacro new file mode 100644 index 000000000..bfa9f76b4 --- /dev/null +++ b/src/husky_a300_mock/description/husky_a300_blank_world.xacro @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + mock_components/GenericSystem + true + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/husky_a300_mock/launch/runtime.launch.xml b/src/husky_a300_mock/launch/runtime.launch.xml new file mode 100644 index 000000000..b2aa75434 --- /dev/null +++ b/src/husky_a300_mock/launch/runtime.launch.xml @@ -0,0 +1,6 @@ + + + + diff --git a/src/husky_a300_mock/objectives/.gitkeep b/src/husky_a300_mock/objectives/.gitkeep new file mode 100644 index 000000000..e69de29bb diff --git a/src/husky_a300_mock/package.xml b/src/husky_a300_mock/package.xml new file mode 100644 index 000000000..3e9832409 --- /dev/null +++ b/src/husky_a300_mock/package.xml @@ -0,0 +1,29 @@ + + + husky_a300_mock + 9.5.0 + + + Minimal MoveIt Pro configuration for a Clearpath Husky A300 in a blank + world, for fast iteration decoupled from a full simulated environment. + + + MoveIt Pro Maintainer + + BSD-3-Clause + + ament_cmake + + clearpath_platform_description + diff_drive_controller + joint_state_broadcaster + moveit_studio_agent + moveit_pro_behavior + moveit_pro_objectives + + ament_lint_auto + + + ament_cmake + + diff --git a/src/husky_a300_mock/waypoints/waypoints.yaml b/src/husky_a300_mock/waypoints/waypoints.yaml new file mode 100644 index 000000000..fe51488c7 --- /dev/null +++ b/src/husky_a300_mock/waypoints/waypoints.yaml @@ -0,0 +1 @@ +[]