From bc478c556fd17fc46fe266ef71ba56c11d83d38c Mon Sep 17 00:00:00 2001
From: Wim Meeussen <wim@willowgarage.com>
Date: Thu, 29 Mar 2012 17:03:43 -0700
Subject: [PATCH] collision model for base
---
ur5_base/CMakeLists.txt | 30 ++++++++++++++
ur5_base/Makefile | 1 +
ur5_base/launch/load.launch | 3 ++
ur5_base/launch/test.launch | 7 ++++
ur5_base/mainpage.dox | 14 +++++++
ur5_base/manifest.xml | 14 +++++++
ur5_base/urdf/base.urdf.xacro | 78 +++++++++++++++++++++++++++++++++++
7 files changed, 147 insertions(+)
create mode 100644 ur5_base/CMakeLists.txt
create mode 100644 ur5_base/Makefile
create mode 100644 ur5_base/launch/load.launch
create mode 100644 ur5_base/launch/test.launch
create mode 100644 ur5_base/mainpage.dox
create mode 100644 ur5_base/manifest.xml
create mode 100644 ur5_base/urdf/base.urdf.xacro
diff --git a/ur5_base/CMakeLists.txt b/ur5_base/CMakeLists.txt
new file mode 100644
index 0000000..f8f1c9c
--- /dev/null
+++ b/ur5_base/CMakeLists.txt
@@ -0,0 +1,30 @@
+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})
diff --git a/ur5_base/Makefile b/ur5_base/Makefile
new file mode 100644
index 0000000..b75b928
--- /dev/null
+++ b/ur5_base/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/ur5_base/launch/load.launch b/ur5_base/launch/load.launch
new file mode 100644
index 0000000..83b1409
--- /dev/null
+++ b/ur5_base/launch/load.launch
@@ -0,0 +1,3 @@
+<launch>
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_base)/urdf/base.urdf.xacro'" />
+</launch>
\ No newline at end of file
diff --git a/ur5_base/launch/test.launch b/ur5_base/launch/test.launch
new file mode 100644
index 0000000..ee4a1db
--- /dev/null
+++ b/ur5_base/launch/test.launch
@@ -0,0 +1,7 @@
+<launch>
+ <include file="$(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 $(find urdf_tutorial)/urdf.vcg" />
+</launch>
diff --git a/ur5_base/mainpage.dox b/ur5_base/mainpage.dox
new file mode 100644
index 0000000..1ab992d
--- /dev/null
+++ b/ur5_base/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b ur5_base
+
+<!--
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/ur5_base/manifest.xml b/ur5_base/manifest.xml
new file mode 100644
index 0000000..60b42db
--- /dev/null
+++ b/ur5_base/manifest.xml
@@ -0,0 +1,14 @@
+<package>
+ <description brief="ur5_base">
+
+ ur5_base
+
+ </description>
+ <author>Wim Meeussen</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://ros.org/wiki/ur5_base</url>
+
+</package>
+
+
diff --git a/ur5_base/urdf/base.urdf.xacro b/ur5_base/urdf/base.urdf.xacro
new file mode 100644
index 0000000..73dd856
--- /dev/null
+++ b/ur5_base/urdf/base.urdf.xacro
@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+
+<robot name="ur5_with_base">
+ <include filename="$(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>
--
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