collision model for base

ur5_base/CMakeLists.txt

+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

ur5_base/Makefile

+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file

ur5_base/launch/load.launch

+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_base)/urdf/base.urdf.xacro'" />
+</launch>
\ No newline at end of file

ur5_base/launch/test.launch

+<launch>
+  <include file="$(find ur5_base)/launch/load.launch" />
+  <param name="use_gui" value="true"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
+</launch>

ur5_base/mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b ur5_base 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

ur5_base/manifest.xml

+<package>
+  <description brief="ur5_base">
+
+     ur5_base
+
+  </description>
+  <author>Wim Meeussen</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/ur5_base</url>
+
+</package>
+
+

ur5_base/urdf/base.urdf.xacro

+<?xml version="1.0"?>
+
+<robot name="ur5_with_base">
+  <include filename="$(find ur5_description)/urdf/model.urdf.xacro" />
+  
+  <link name="world_link" />
+  <joint name="base_1_joint" type="fixed" >
+    <parent link="world_link" />
+    <child link= "base_1_link" />
+  </joint>
+  <joint name="base_2_joint" type="fixed" >
+    <parent link="base_1_link" />
+    <child link= "base_2_link" />
+  </joint>
+  <joint name="base_3_joint" type="fixed" >
+    <parent link="base_2_link" />
+    <child link= "base_3_link" />
+  </joint>
+  <joint name="base_4_joint" type="fixed" >
+    <parent link="base_3_link" />
+    <child link= "base_4_link" />
+  </joint>
+  <joint name="base_5_joint" type="fixed" >
+    <parent link="base_4_link" />
+    <child link= "base_5_link" />
+  </joint>
+  <joint name="robot_joint" type="fixed" >
+    <parent link="base_5_link" />
+    <child link= "base_link" />
+    <origin xyz="0.0 0.50 0.55" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <link name="base_1_link">
+    <visual>
+      <geometry>
+        <box size="0.25 0.50 0.10" />
+      </geometry>
+      <origin xyz="0.0 0.25 0.05" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+  <link name="base_2_link">
+    <visual>
+      <geometry>
+        <box size="0.25 0.45 0.80" />
+      </geometry>
+      <origin xyz="0.0 -0.225 0.40" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+  <link name="base_3_link">
+    <visual>
+      <geometry>
+        <box size="0.25 0.60 0.05" />
+      </geometry>
+      <origin xyz="0.0 0.25 0.525" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+  <link name="base_4_link">
+    <visual>
+      <geometry>
+        <box size="0.25 0.05 0.65" />
+      </geometry>
+      <origin xyz="0.0 0.075 0.695" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+  <link name="base_5_link">
+    <visual>
+      <geometry>
+        <box size="0.45 0.25 0.30" />
+      </geometry>
+      <origin xyz="0.0 -0.325 1.00" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+</robot>