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chvmp · Aug 1, 2020 · fd86a07 · fd86a07
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,11 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(opendog_description)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(DIRECTORY meshes launch urdf
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/launch/description.launch b/launch/description.launch
@@ -0,0 +1,12 @@
+<launch>
+    <arg name="description_name"           default="robot_description"/>
+    <arg name="description_file"           default="$(find opendog_description)/urdf/opendog.urdf"/>
+
+    <param name="$(arg description_name)" textfile="$(arg description_file)"/>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
+        <param name="use_tf_static"     value="true"/>
+        <param name="publish_frequency" value="200"/>
+        <remap from="robot_description" to="$(arg description_name)"/>
+    </node>
+</launch>
diff --git a/launch/view_urdf.launch b/launch/view_urdf.launch
@@ -0,0 +1,15 @@
+<launch>
+    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find opendog_description)/urdf/opendog.urdf.xacro' " />
+    <node name="opendog_robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
+        <param name="publish_frequency" type="double" value="30.0" />
+        <param name="ignore_timestamp" type="bool" value="true" />
+    </node>
+
+    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find opendog_description)/rviz/urdf_viewer.rviz" />
+
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+        <rosparam param="/source_list">[joint_states]</rosparam>
+    </node>
+</launch>
+
diff --git a/meshes/base.stl b/meshes/base.stl
diff --git a/meshes/foot.stl b/meshes/foot.stl
diff --git a/meshes/hip.stl b/meshes/hip.stl
diff --git a/meshes/hip_mirror.stl b/meshes/hip_mirror.stl
diff --git a/meshes/lower_leg.stl b/meshes/lower_leg.stl
diff --git a/meshes/upper_leg.stl b/meshes/upper_leg.stl
diff --git a/package.xml b/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>opendog_description</name>
+  <version>0.1.0</version>
+  <description>Open Dog Description Package</description>
+
+  <maintainer email="[email protected]">Juan Miguel Jimeno</maintainer>
+  <author>Juan Miguel Jimeno</author>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>gazebo_plugins</exec_depend>
+  <exec_depend>hector_gazebo_plugins</exec_depend>
+  <exec_depend>hector_sensors_description</exec_depend>
+
+</package>