Rename package.

helix-robotics-ag · Feb 4, 2024 · 61bf2ff · 61bf2ff
1 parent 46d98eb
commit 61bf2ff
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Showing 3 changed files with 38 additions and 38 deletions.
diff --git a/helix_description/CMakeLists.txt b/helix_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(dynamixel_block_description)
+project(helix_description)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

diff --git a/helix_description/package.xml b/helix_description/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>dynamixel_block_description</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="[email protected]">Kai Junge</maintainer>
+  <name>helix_description</name>
+  <version>0.0.1</version>
+  <description>Robot model</description>
+  <maintainer email="[email protected]">Max Polzin</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/helix_description/urdf/dynamixel_block.xacro b/helix_description/urdf/dynamixel_block.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
 <!-- Import Rviz colors -->
-<xacro:include filename="$(find dynamixel_block_description)/urdf/dynamixel_block.material.xacro" />
+<xacro:include filename="$(find helix_description)/urdf/dynamixel_block.material.xacro" />
 
 
 <xacro:macro name="dynamixel_block" params="parent *origin">
@@ -24,14 +24,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_body"/>
     </visual>
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -46,14 +46,14 @@
     <visual>
       <origin xyz="-0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -69,14 +69,14 @@
     <visual>
       <origin xyz="-0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -90,14 +90,14 @@
     <visual>
       <origin xyz="-0.0 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -111,14 +111,14 @@
     <visual>
       <origin xyz="-0.0 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -132,14 +132,14 @@
     <visual>
       <origin xyz="0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -153,14 +153,14 @@
     <visual>
       <origin xyz="0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -174,14 +174,14 @@
     <visual>
       <origin xyz="0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -195,14 +195,14 @@
     <visual>
       <origin xyz="0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -216,14 +216,14 @@
     <visual>
       <origin xyz="-0.0 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -237,14 +237,14 @@
     <visual>
       <origin xyz="-0.0 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -258,14 +258,14 @@
     <visual>
       <origin xyz="-0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -279,14 +279,14 @@
     <visual>
       <origin xyz="-0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find dynamixel_block_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="file://$(find helix_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -395,15 +395,15 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="grey"/>
     </visual>
 
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
 
@@ -423,15 +423,15 @@
     <visual>
       <origin xyz="0 0 0.019" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="grey"/>
     </visual>
 
     <collision>
       <origin xyz="0 0 0.019" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
 
@@ -458,15 +458,15 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="grey"/>
     </visual>
 
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://dynamixel_block_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://helix_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>