fixed collision models in URDF

.travis.yml

@@ -29,5 +29,5 @@ script:
   - catkin_make install
   - source install/setup.bash
   - cd src/package
-  - /opt/ros/hydro/share/xacro/xacro.py jaco_description/urdf/standalone_arm.xacro >> sanity.urdf
-  - diff sanity.urdf jaco_description/urdf/standalone_arm.urdf
+  - /opt/ros/hydro/share/xacro/xacro.py jaco_description/robots/standalone_arm.urdf.xacro >> sanity.urdf
+  - diff sanity.urdf jaco_description/robots/standalone_arm.urdf

README.md

@@ -17,7 +17,7 @@ This package servers as an alternative to [jaco-arm](https://github.com/Kinovaro
    * `xmllint --noblanks my_modified_mesh.dae > ../my_modified_mesh.min.dae`
  1. Re-compile the modified URDF
    * `cd /path/to/wpi_jaco`
-   * `rosrun xacro xacro jaco_description/urdf/standalone_arm.xacro > jaco_description/urdf/standalone_arm.urdf`
+   * `rosrun xacro xacro jaco_description/robots/standalone_arm.urdf.xacro > jaco_description/robots/standalone_arm.urdf`
 
 ### License
 For full terms and conditions, see the [LICENSE](LICENSE) file.

jaco_description/launch/jaco_description.launch

@@ -0,0 +1,17 @@
+<launch>
+  <!-- Joint state publisher gui -->
+  <arg name="gui" default="false" />
+
+  <!-- Load the URDF file -->
+  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find jaco_description)/robots/standalone_arm.urdf.xacro'" />
+  <param name="robot_description" command="$(arg urdf_file)" />
+
+  <!-- State publishers -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50" />
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg gui)" />
+    <rosparam param="source_list">[jaco_arm/joint_states]</rosparam>
+  </node>
+</launch>

jaco_description/launch/view.launch

@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find jaco_description)/launch/jaco_description.launch">
+     <arg name="gui" value="true" />
+  </include>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find jaco_description)/rviz/view_robot.rviz" required="true" />
+</launch>

jaco_description/meshes/original/jaco_large_ring_cover.dae → jaco_description/meshes/jaco_large_ring_cover.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-04T14:01:56Z</created>
         <modified>2014-08-04T14:01:56Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_1.dae → jaco_description/meshes/jaco_link_1.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T12:34:09Z</created>
         <modified>2014-08-05T12:34:09Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_2.dae → jaco_description/meshes/jaco_link_2.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T12:31:44Z</created>
         <modified>2014-08-05T12:31:44Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_3.dae → jaco_description/meshes/jaco_link_3.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T12:51:43Z</created>
         <modified>2014-08-05T12:51:43Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_4_5.dae → jaco_description/meshes/jaco_link_4_5.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T13:20:37Z</created>
         <modified>2014-08-05T13:20:37Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_base.dae → jaco_description/meshes/jaco_link_base.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T13:02:31Z</created>
         <modified>2014-08-05T13:02:31Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_finger.dae → jaco_description/meshes/jaco_link_finger.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T13:26:45Z</created>
         <modified>2014-08-05T13:26:45Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_finger_tip.dae → jaco_description/meshes/jaco_link_finger_tip.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T13:36:16Z</created>
         <modified>2014-08-05T13:36:16Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_link_hand.dae → jaco_description/meshes/jaco_link_hand.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-04T19:47:56Z</created>
         <modified>2014-08-04T19:47:56Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/meshes/original/jaco_small_ring_cover.dae → jaco_description/meshes/jaco_small_ring_cover.dae

@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-01T20:08:23Z</created>
         <modified>2014-08-01T20:08:23Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>

jaco_description/package.xml

@@ -6,6 +6,8 @@
 
   <maintainer email="[email protected]">David Kent</maintainer>
   <maintainer email="[email protected]">Russell Toris</maintainer>
+  <author email="[email protected]">Russell Toris</author>
+  <author email="[email protected]">David Kent</author>
   <author email="[email protected]">Benzun Pious Wisely Babu</author>
 
   <license>BSD</license>

jaco_description/urdf/standalone_arm.xacro → jaco_description/robots/standalone_arm.urdf.xacro

@@ -13,19 +13,19 @@
 	xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
 	xmlns:xacro="http://ros.org/wiki/xacro" name="jaco">
 
-	<xacro:include filename="$(find jaco_description)/urdf/jaco_arm.xacro" />
+	<xacro:include filename="$(find jaco_description)/urdf/jaco_arm.urdf.xacro" />
 
 	<link name="root">
 		<visual>
 			<origin xyz="0 0 0" rpy="0 0 0" />
 			<geometry>
-				<box size = "0 0 0"/> <!-- making it slightly bigger in x and z direction -->
+				<box size = "0 0 0" />
 			</geometry>
 		</visual>
 		<collision>
 			<origin xyz="0 0 0" rpy="0 0 0" />
 			<geometry>
-				<box size = "0 0 0"/> <!-- making it slightly bigger in x and z direction -->
+				<box size = "0 0 0" />
 			</geometry>
 		</collision>
 	</link>