Merge pull request #4 from abhishek098/kinetic-devel

fixed xacro syntax
a2s-institute · Feb 26, 2018 · cde0ad8 · cde0ad8
2 parents 163bd06 + afe9ee9
commit cde0ad8
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Showing 28 changed files with 107 additions and 104 deletions.
diff --git a/robots/youbot.urdf.xacro b/robots/youbot.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface"
        name="youbot" >
 
   <!-- The following xacro:included files set up definitions of parts of the robot body -->
@@ -60,5 +60,8 @@
     <origin xyz="0.3 0 -0.03" rpy="0 0 0"/>
   </xacro:hokuyo_urg04_laser>
 
+  <gazebo>
+      <plugin name="gazebo_ros_controller" filename="libgazebo_ros_control.so" />
+  </gazebo>
 
 </robot>
diff --git a/robots/youbot_arm_only.urdf.xacro b/robots/youbot_arm_only.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface"
        name="youbot" >
 
   <!-- The following included files set up definitions of parts of the robot body -->

diff --git a/robots/youbot_base_only.urdf.xacro b/robots/youbot_base_only.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface"
        name="youbot" >
 
   <!-- The following xacro:included files set up definitions of parts of the robot body -->

diff --git a/robots/youbot_dual_arm.urdf.xacro b/robots/youbot_dual_arm.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface"
        name="youbot" >
 
   <!-- The following xacro:included files set up definitions of parts of the robot body -->

diff --git a/robots/youbot_with_cam3d.urdf.xacro b/robots/youbot_with_cam3d.urdf.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface"
        name="youbot" >
 
   <!-- The following xacro:included files set up definitions of parts of the robot body -->

diff --git a/urdf/common.xacro b/urdf/common.xacro
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
-<robot>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
-	<property name="M_PI" value="3.1415926535897931" />
+	<xacro:property name="M_PI" value="3.1415926535897931" />
 
 	<!-- Casters -->
-	<property name="cal_caster_fl" value="0.0" />
-	<property name="cal_caster_fr" value="0.0" />
-	<property name="cal_caster_bl" value="0.0" />
-	<property name="cal_caster_br" value="0.0" />
+	<xacro:property name="cal_caster_fl" value="0.0" />
+	<xacro:property name="cal_caster_fr" value="0.0" />
+	<xacro:property name="cal_caster_bl" value="0.0" />
+	<xacro:property name="cal_caster_br" value="0.0" />
 
 </robot>
diff --git a/urdf/misc/camera_tower.urdf.xacro b/urdf/misc/camera_tower.urdf.xacro
@@ -2,12 +2,12 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 
-  <property name="camera_tower_height" value="0.49" />
-  <property name="camera_tower_width" value="0.03" />
-  <property name="camera_tower_depth" value="0.03" />
+  <xacro:property name="camera_tower_height" value="0.49" />
+  <xacro:property name="camera_tower_width" value="0.03" />
+  <xacro:property name="camera_tower_depth" value="0.03" />
 
   <xacro:macro name="camera_tower" params="name parent *origin">
   	<link name="${name}_link">
@@ -34,7 +34,7 @@
     </link>
 
     <joint name="${name}_joint" type="fixed">
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="${name}_link"/>
     </joint>

diff --git a/urdf/misc/sensor_angle.urdf.xacro b/urdf/misc/sensor_angle.urdf.xacro
@@ -2,12 +2,12 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 
-	<property name="sensor_angle_width"  value="0.097" />
-	<property name="sensor_angle_height" value="0.0015" />
-	<property name="sensor_angle_depth"  value="0.0625" />
+	<xacro:property name="sensor_angle_width"  value="0.097" />
+	<xacro:property name="sensor_angle_height" value="0.0015" />
+	<xacro:property name="sensor_angle_depth"  value="0.0625" />
 
 	<xacro:macro name="sensor_angle" params="name parent *origin">
 		<link name="${name}_part1_link">
@@ -35,7 +35,7 @@
 
 
 		<joint name="${name}_part1_joint" type="fixed">
-			<insert_block name="origin" />
+			<xacro:insert_block name="origin" />
 			<parent link="${parent}"/>
 			<child link="${name}_part1_link"/>
 		</joint>

diff --git a/urdf/sensors/asus_xtion_camera.gazebo.xacro b/urdf/sensors/asus_xtion_camera.gazebo.xacro
@@ -2,7 +2,7 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-      xmlns:xacro="http://ros.org/wiki/xacro">
+      xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 <xacro:macro name="asus_xtion_camera_gazebo" params="name">
   <gazebo reference="${name}_camera">

diff --git a/urdf/sensors/asus_xtion_camera.urdf.xacro b/urdf/sensors/asus_xtion_camera.urdf.xacro
@@ -3,8 +3,8 @@
 
   <xacro:include filename="$(find youbot_description)/urdf/sensors/asus_xtion_camera.gazebo.xacro" />
 
-  <property name="eye_x_offset" value="0.03" />
-  <property name="eye_y_offset" value="0.035" />
+  <xacro:property name="eye_x_offset" value="0.03" />
+  <xacro:property name="eye_y_offset" value="0.035" />
 
   <xacro:macro name="asus_xtion_eye" params="suffix parent *origin">
 	<link name="${parent}_${suffix}_frame">
@@ -18,7 +18,7 @@
 	<joint name="${parent}_${suffix}_joint" type="fixed">
 	  <parent link="${parent}_camera"/>
 	  <child link="${parent}_${suffix}_frame"/>
-	  <insert_block name="origin"/>
+	  <xacro:insert_block name="origin"/>
 	</joint>		
   </xacro:macro>
 
@@ -47,7 +47,7 @@
     </link>
 
     <joint name="${name}_foot_joint" type="fixed">
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="${name}_foot_link"/>
     </joint>

diff --git a/urdf/sensors/hokuyo_urg04_laser.gazebo.xacro b/urdf/sensors/hokuyo_urg04_laser.gazebo.xacro
@@ -3,7 +3,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
   <xacro:macro name="hokuyo_urg04_laser_gazebo" params="name ros_topic update_rate min_angle max_angle">
     <gazebo reference="${name}_link">

diff --git a/urdf/sensors/hokuyo_urg04_laser.urdf.xacro b/urdf/sensors/hokuyo_urg04_laser.urdf.xacro
@@ -3,14 +3,14 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
   <xacro:include filename="$(find youbot_description)/urdf/sensors/hokuyo_urg04_laser.gazebo.xacro" />
 
   <xacro:macro name="hokuyo_urg04_laser" params="name parent *origin ros_topic update_rate min_angle max_angle">
     <joint name="${name}_hokuyo_urg04_laser_joint" type="fixed">
       <axis xyz="0 1 0" />
-      <insert_block name="origin" />
+      <xacro:insert_block name="origin" />
       <parent link="${parent}_link"/>
       <child link="${name}_link"/>
     </joint>

diff --git a/urdf/sensors/kinect_camera.gazebo.xacro b/urdf/sensors/kinect_camera.gazebo.xacro
@@ -2,7 +2,7 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-      xmlns:xacro="http://ros.org/wiki/xacro">
+      xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 <xacro:macro name="kinect_camera_gazebo" params="name">
   <gazebo reference="${name}_camera">

diff --git a/urdf/sensors/kinect_camera.urdf.xacro b/urdf/sensors/kinect_camera.urdf.xacro
@@ -2,14 +2,14 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-      xmlns:xacro="http://ros.org/wiki/xacro">
+      xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 
   <xacro:include filename="$(find youbot_description)/urdf/sensors/kinect_camera.gazebo.xacro"/>
 
   <xacro:macro name="kinect_camera" params="name parent *origin">
    <joint name="${name}_camera_joint" type="fixed">
-    <insert_block name="origin" />
+    <xacro:insert_block name="origin" />
     <parent link="${parent}" />
     <child link="${name}_camera" />
    </joint>

diff --git a/urdf/sensors/microsoft_lifecam.gazebo.xacro b/urdf/sensors/microsoft_lifecam.gazebo.xacro
@@ -2,7 +2,7 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-      xmlns:xacro="http://ros.org/wiki/xacro">
+      xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 <xacro:macro name="microsoft_lifecam_gazebo" params="name">
   <gazebo reference="${name}_camera">

diff --git a/urdf/sensors/microsoft_lifecam.urdf.xacro b/urdf/sensors/microsoft_lifecam.urdf.xacro
@@ -2,14 +2,14 @@
 <root xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-      xmlns:xacro="http://ros.org/wiki/xacro">
+      xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 
   <xacro:include filename="$(find youbot_description)/urdf/sensors/microsoft_lifecam.gazebo.xacro"/>
 
   <xacro:macro name="microsoft_lifecam" params="name parent *origin">
    <joint name="${name}_camera_joint" type="fixed">
-    <insert_block name="origin" />
+    <xacro:insert_block name="origin" />
     <parent link="${parent}" />
     <child link="${name}_camera" />
    </joint>

diff --git a/urdf/youbot_arm/arm.gazebo.xacro b/urdf/youbot_arm/arm.gazebo.xacro
@@ -3,7 +3,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 	<xacro:macro name="youbot_arm_gazebo" params="name">
 

diff --git a/urdf/youbot_arm/arm.transmission.xacro b/urdf/youbot_arm/arm.transmission.xacro
@@ -3,7 +3,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
   <!-- reduction ratio doesn't affect the model-->
   <!-- reduction ratio must not to be 0-->
   <xacro:macro name="youbot_arm_transmission" params="name">

diff --git a/urdf/youbot_arm/arm.urdf.xacro b/urdf/youbot_arm/arm.urdf.xacro
@@ -2,7 +2,7 @@
 <robot  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
         xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-        xmlns:xacro="http://ros.org/wiki/xacro">
+        xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 	<xacro:include filename="$(find youbot_description)/urdf/youbot_arm/arm.gazebo.xacro" />
 	<xacro:include filename="$(find youbot_description)/urdf/youbot_arm/arm.transmission.xacro" />
@@ -12,7 +12,7 @@
 
 		<!-- joint between base_link and arm_0_link -->
 		<joint name="${name}_joint_0" type="fixed" >
-			<insert_block name="origin" />
+			<xacro:insert_block name="origin" />
 			<parent link="${parent}" />
 			<child link="${name}_link_0" />
 

diff --git a/urdf/youbot_arm/limits.urdf.xacro b/urdf/youbot_arm/limits.urdf.xacro
@@ -1,36 +1,36 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">>
 
 	<!-- common properties -->
-	<property name="M_PI" value="3.1415926535897931" />
-	<property name="threshold" value="0.01" />
+	<xacro:property name="M_PI" value="3.1415926535897931" />
+	<xacro:property name="threshold" value="0.01" />
 
 	<!-- arm limits positions (deg) -->
-	<property name="joint_1_limit" value="${M_PI * (169 + 169) / 180}" />
-	<property name="joint_2_limit" value="${M_PI * (90 + 65) / 180}" />
-	<property name="joint_3_limit" value="${M_PI * (146 + 151) / 180}" />
-	<property name="joint_4_limit" value="${M_PI * (102.5 + 102.5) / 180}" />
-	<property name="joint_5_limit" value="${M_PI * (167.5 + 167.5) / 180}" />
+	<xacro:property name="joint_1_limit" value="${M_PI * (169 + 169) / 180}" />
+	<xacro:property name="joint_2_limit" value="${M_PI * (90 + 65) / 180}" />
+	<xacro:property name="joint_3_limit" value="${M_PI * (146 + 151) / 180}" />
+	<xacro:property name="joint_4_limit" value="${M_PI * (102.5 + 102.5) / 180}" />
+	<xacro:property name="joint_5_limit" value="${M_PI * (167.5 + 167.5) / 180}" />
 
-	<property name="joint_1_limit_soft" value="${joint_1_limit - threshold}" />
-	<property name="joint_2_limit_soft" value="${joint_2_limit - threshold}" />
-	<property name="joint_3_limit_soft" value="${joint_3_limit - threshold}" />
-	<property name="joint_4_limit_soft" value="${joint_4_limit - threshold}" />
-	<property name="joint_5_limit_soft" value="${joint_5_limit - threshold}" />
+	<xacro:property name="joint_1_limit_soft" value="${joint_1_limit - threshold}" />
+	<xacro:property name="joint_2_limit_soft" value="${joint_2_limit - threshold}" />
+	<xacro:property name="joint_3_limit_soft" value="${joint_3_limit - threshold}" />
+	<xacro:property name="joint_4_limit_soft" value="${joint_4_limit - threshold}" />
+	<xacro:property name="joint_5_limit_soft" value="${joint_5_limit - threshold}" />
 
 	<!-- dynamic properties : mass (kg) Alu data sheet -->
-	<property name="link_0_mass" value="0.961" />
-	<property name="link_1_mass" value="1.390" />
-	<property name="link_2_mass" value="1.318" />
-	<property name="link_3_mass" value="0.821" />
-	<property name="link_4_mass" value="0.769" />
-	<property name="link_5_mass" value="0.687" />
-	<!--<property name="link_0_mass" value="0.845" />
-	<property name="link_1_mass" value="0.1" />
-	<property name="link_2_mass" value="0.1" />
-	<property name="link_3_mass" value="0.1" />
-	<property name="link_4_mass" value="0.1" />
-	<property name="link_5_mass" value="0.1" />-->
+	<xacro:property name="link_0_mass" value="0.961" />
+	<xacro:property name="link_1_mass" value="1.390" />
+	<xacro:property name="link_2_mass" value="1.318" />
+	<xacro:property name="link_3_mass" value="0.821" />
+	<xacro:property name="link_4_mass" value="0.769" />
+	<xacro:property name="link_5_mass" value="0.687" />
+	<!--<xacro:property name="link_0_mass" value="0.845" />
+	<xacro:property name="link_1_mass" value="0.1" />
+	<xacro:property name="link_2_mass" value="0.1" />
+	<xacro:property name="link_3_mass" value="0.1" />
+	<xacro:property name="link_4_mass" value="0.1" />
+	<xacro:property name="link_5_mass" value="0.1" />-->
 	<!-- TODO: add inertia tensor-->
 
 	<xacro:macro name="default_origin">

diff --git a/urdf/youbot_base/base.gazebo.xacro b/urdf/youbot_base/base.gazebo.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
 
   <xacro:macro name="youbot_base_gazebo">

diff --git a/urdf/youbot_base/base.transmission.xacro b/urdf/youbot_base/base.transmission.xacro
@@ -2,10 +2,10 @@
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://ros.org/wiki/xacro">
+       xmlns:xacro="http://www.ros.org/wiki/xacro/#interface">
 
-  <property name="wheel_mechanical_reduction" value="${624/35 * 80/18}" />
-  <property name="caster_mechanical_reduction" value="${624/35 * 80/18}" />
+  <xacro:property name="wheel_mechanical_reduction" value="${624/35 * 80/18}" />
+  <xacro:property name="caster_mechanical_reduction" value="${624/35 * 80/18}" />
 
   <xacro:macro name="youbot_base_transmission">
   <!-- front left wheel -->