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Mesh and URDF for the Create1 #27

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Jun 28, 2016
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Mesh and URDF for the Create1 #27

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4 changes: 2 additions & 2 deletions ca_description/README.md
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Expand Up @@ -4,5 +4,5 @@ A place for URDF models and meshes for iRobot's Create 1 and 2.

## Sources

* Original URDF: https://github.com/turtlebot/turtlebot_create
* Original mesh: https://github.com/goncabrita/roomba_robot
* Original URDF and Create 1 mesh: https://github.com/turtlebot/turtlebot_create
* Original Create 2 mesh: https://github.com/goncabrita/roomba_robot
5 changes: 5 additions & 0 deletions ca_description/launch/create_1.launch
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@@ -0,0 +1,5 @@
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_1.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
</launch>
3 changes: 1 addition & 2 deletions ca_description/launch/create_2.launch
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@@ -1,6 +1,5 @@
<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_2_base.urdf.xacro'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find ca_description)/urdf/create_2.urdf.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>
</launch>
348 changes: 348 additions & 0 deletions ca_description/meshes/create_1.dae
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200 changes: 125 additions & 75 deletions ca_description/meshes/create_2.dae
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9 changes: 9 additions & 0 deletions ca_description/urdf/create_1.urdf.xacro
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<?xml version="1.0" ?>
<robot name="create_1" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find ca_description)/urdf/create_base.urdf.xacro" />
<xacro:include filename="$(find ca_description)/urdf/create_1_gazebo.urdf.xacro" />

<xacro:create_base wheel_separation="0.26" base_diameter="0.3302">
<mesh filename="package://ca_description/meshes/create_1.dae" />
</xacro:create_base>
</robot>
4 changes: 4 additions & 0 deletions ca_description/urdf/create_1_gazebo.urdf.xacro
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<?xml version="1.0" ?>

<robot xmlns:xacro="http://ros.org/wiki/xacro">
</robot>
9 changes: 9 additions & 0 deletions ca_description/urdf/create_2.urdf.xacro
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<?xml version="1.0" ?>
<robot name="create_2" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find ca_description)/urdf/create_base.urdf.xacro" />
<xacro:include filename="$(find ca_description)/urdf/create_2_gazebo.urdf.xacro" />

<xacro:create_base wheel_separation="0.235" base_diameter="0.3485">
<mesh filename="package://ca_description/meshes/create_2.dae" />
</xacro:create_base>
</robot>
278 changes: 0 additions & 278 deletions ca_description/urdf/create_2_base.urdf.xacro
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