package for universal robot description

universal_robot_description/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})

universal_robot_description/Makefile

+include $(shell rospack find mk)/cmake.mk
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universal_robot_description/launch/test.launch

+<launch>
+	<param name="robot_description" textfile="$(find universal_robot_description)/urdf/robot.xml" />
+	<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>

universal_robot_description/mainpage.dox

+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b universal_robot_description is ... 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/

universal_robot_description/manifest.xml

+<package>
+  <description brief="universal_robot_description">
+
+     universal_robot_description
+
+  </description>
+  <author>wim</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/universal_robot_description</url>
+  <depend package="urdf"/>
+
+</package>
+
+

universal_robot_description/urdf/robot.xml

+<?xml version="1.0"?>
+<robot name="universal_robot">
+  <link name="base_link" />
+
+  <joint name="shoulder_pan_joint" type="revolute">
+    <parent link="base_link" />
+    <child link = "shoulder_link" />
+    <origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
+    <axis xyz="0.0 0.0 1.0" />
+    <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
+  </joint>
+  
+  <link name="shoulder_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.20" radius="0.1"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <joint name="shoulder_lift_joint" type="revolute">
+    <parent link="shoulder_link" />
+    <child link = "upper_arm_link" />
+    <axis xyz="0.0 1.0 0.0" />
+    <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
+  </joint>
+
+  <link name="upper_arm_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.50" radius="0.05"/>
+      </geometry>
+      <origin xyz="0.0 0.20 0.25" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+
+  <joint name="elbow_joint" type="revolute">
+    <parent link="upper_arm_link" />
+    <child link = "forearm_link" />
+    <origin xyz="0.0 0.0 0.50" rpy="0.0 0.0 0.0" />
+    <axis xyz="0.0 -1.0 0.0" />
+    <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
+  </joint>
+
+  <link name="forearm_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.50" radius="0.05"/>
+      </geometry>
+      <origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0" />
+    </visual>
+  </link>
+  
+</robot>
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