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Integrates Ridgeback URDF with Baxter's Xacro URDF #1

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Integrates Ridgeback URDF with Baxter's Xacro URDF #1

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17 changes: 17 additions & 0 deletions ridgeback_baxter_description/launch/ridgeback_baxter_world.launch
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<?xml version="1.0" encoding="utf-8"?>
<launch>

<!-- Load the combined ridgeback-baxter URDF's to the param server -->
<param name="robot_description"
command="$(find xacro)/xacro.py --inorder
$(find ridgeback_baxter_description)/urdf/ridgeback_baxter.urdf.xacro gazebo:=true"/>

<!-- Launch baxter_simulator -->
<include file="$(find baxter_gazebo)/launch/baxter_world.launch">
<arg name="load_robot_description" value="false"/>
</include>

<!-- Launch ridgeback_simulator -->
<!-- TODO -->

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@rethink-imcmahon rethink-imcmahon Dec 15, 2015

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I am fine with this simulator launch file being placed elsewhere that makes more sense. I just put it here as a placeholder.

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@rethink-imcmahon rethink-imcmahon Dec 15, 2015

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The launchfile produces this simulation of Baxter & Ridgeback in Gazebo. Of course, none of the Ridgeback controllers are loaded:
baxter_ridgeback_gazebo

</launch>
100 changes: 100 additions & 0 deletions ridgeback_baxter_description/meshes/pedestal_stand.dae
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Binary file added ridgeback_baxter_description/meshes/pedestal_stand.stl
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61 changes: 61 additions & 0 deletions ridgeback_baxter_description/meshes/pedestal_stand_collision.dae
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<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
</contributor>
<created>2015-12-14T15:14:05</created>
<modified>2015-12-14T15:14:05</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_geometries>
<geometry id="PEDESTAL-L_001-mesh" name="PEDESTAL-L.001">
<mesh>
<source id="PEDESTAL-L_001-mesh-positions">
<float_array id="PEDESTAL-L_001-mesh-positions-array" count="135">0.1556287 -0.04569661 -0.06152492 0.1621989 0 -0.6466 0.1621989 0 -0.06152492 0.1556287 0.04569661 -0.6466 0.1556287 0.04569661 -0.06152492 0.1364504 0.08769136 -0.6466 0.1364504 0.08769136 -0.06152492 0.1062177 0.1225817 -0.6466 0.1062177 0.1225817 -0.06152492 0.06737983 0.1475413 -0.6466 0.06737983 0.1475413 -0.06152492 0.0230832 0.160548 -0.6466 0.0230832 0.160548 -0.06152492 -0.0230832 0.160548 -0.6466 -0.0230832 0.160548 -0.06152492 -0.06737983 0.1475413 -0.6466 -0.06737983 0.1475413 -0.06152492 -0.1062177 0.1225817 -0.6466 -0.1062177 0.1225817 -0.06152492 -0.1364504 0.08769136 -0.6466 -0.1364504 0.08769136 -0.06152492 -0.1556287 0.04569661 -0.6466 -0.1556287 0.04569661 -0.06152492 -0.1621989 0 -0.6466 -0.1621989 0 -0.06152492 -0.1556287 -0.04569661 -0.6466 -0.1556287 -0.04569661 -0.06152492 -0.1364504 -0.08769136 -0.6466 -0.1364504 -0.08769136 -0.06152492 -0.1062177 -0.1225817 -0.6466 -0.1062177 -0.1225817 -0.06152492 -0.06737983 -0.1475413 -0.6466 -0.06737983 -0.1475413 -0.06152492 -0.0230832 -0.160548 -0.6466 -0.0230832 -0.160548 -0.06152492 0.0230832 -0.160548 -0.6466 0.0230832 -0.160548 -0.06152492 0.06737983 -0.1475413 -0.6466 0.06737983 -0.1475413 -0.06152492 0.1062177 -0.1225817 -0.6466 0.1062177 -0.1225817 -0.06152492 0.1364504 -0.08769136 -0.6466 0.1364504 -0.08769136 -0.06152492 0.1556287 -0.04569661 -0.6466 -0.1621989 0 -0.06152492</float_array>
<technique_common>
<accessor source="#PEDESTAL-L_001-mesh-positions-array" count="45" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="PEDESTAL-L_001-mesh-normals">
<float_array id="PEDESTAL-L_001-mesh-normals-array" count="192">0.9898214 -0.1423152 0 0.9898214 0.1423152 0 0.9898214 0.1423152 0 0.9096323 0.4154145 0 0.9096323 0.4154145 0 0.7557491 0.6548613 0 0.7557491 0.6548613 0 0.5406412 0.8412533 0 0.5406412 0.8412533 0 0.2817336 0.9594927 0 0.2817336 0.9594927 0 0 1 0 0 1 0 -0.2817336 0.9594927 0 -0.2817336 0.9594927 0 -0.5406412 0.8412533 0 -0.5406412 0.8412533 0 -0.7557491 0.6548613 0 -0.7557491 0.6548613 0 -0.9096323 0.4154145 0 -0.9096323 0.4154145 0 -0.9898214 0.1423152 0 -0.9898214 0.1423152 0 -0.9898214 -0.1423152 0 -0.9898214 -0.1423152 0 -0.9096323 -0.4154145 0 -0.9096323 -0.4154145 0 -0.7557491 -0.6548613 0 -0.7557491 -0.6548613 0 -0.5406412 -0.8412533 0 -0.5406412 -0.8412533 0 -0.2817336 -0.9594927 0 -0.2817336 -0.9594927 0 0 -1 0 0 -1 0 0.2817336 -0.9594927 0 0.2817336 -0.9594927 0 0.5406412 -0.8412533 0 0.5406412 -0.8412533 0 0.7557491 -0.6548613 0 0.7557491 -0.6548613 0 0.9096323 -0.4154145 0 0.9096323 -0.4154145 0 0.9898214 -0.1423152 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1</float_array>
<technique_common>
<accessor source="#PEDESTAL-L_001-mesh-normals-array" count="64" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="PEDESTAL-L_001-mesh-vertices">
<input semantic="POSITION" source="#PEDESTAL-L_001-mesh-positions"/>
</vertices>
<polylist count="64">
<input semantic="VERTEX" source="#PEDESTAL-L_001-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#PEDESTAL-L_001-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 0 1 0 2 0 2 1 1 1 3 1 2 2 3 2 4 2 4 3 3 3 5 3 4 4 5 4 6 4 6 5 5 5 7 5 6 6 7 6 8 6 8 7 7 7 9 7 8 8 9 8 10 8 10 9 9 9 11 9 10 10 11 10 12 10 12 11 11 11 13 11 12 12 13 12 14 12 14 13 13 13 15 13 14 14 15 14 16 14 16 15 15 15 17 15 16 16 17 16 18 16 18 17 17 17 19 17 18 18 19 18 20 18 20 19 19 19 21 19 20 20 21 20 22 20 22 21 21 21 23 21 22 22 23 22 24 22 24 23 23 23 25 23 24 24 25 24 26 24 26 25 25 25 27 25 26 26 27 26 28 26 28 27 27 27 29 27 28 28 29 28 30 28 30 29 29 29 31 29 30 30 31 30 32 30 32 31 31 31 33 31 32 32 33 32 34 32 34 33 33 33 35 33 34 34 35 34 36 34 36 35 35 35 37 35 36 36 37 36 38 36 38 37 37 37 39 37 38 38 39 38 40 38 40 39 39 39 41 39 40 40 41 40 42 40 42 41 41 41 43 41 42 42 43 42 0 42 0 43 43 43 1 43 10 44 12 44 30 44 22 45 44 45 26 45 12 46 14 46 30 46 30 47 14 47 16 47 30 48 16 48 28 48 10 49 30 49 8 49 8 50 30 50 32 50 8 51 32 51 34 51 34 52 36 52 8 52 8 53 36 53 38 53 8 54 38 54 40 54 22 55 26 55 20 55 28 56 16 56 26 56 26 57 16 57 18 57 26 58 18 58 20 58 0 59 2 59 4 59 40 60 42 60 8 60 8 61 42 61 0 61 8 62 0 62 6 62 6 63 0 63 4 63</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="pedestaLstand_collision" name="pedestaLstand_collision" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#PEDESTAL-L_001-mesh"/>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
Binary file added ridgeback_baxter_description/meshes/pedestal_stand_collision.stl
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53 changes: 47 additions & 6 deletions ridgeback_baxter_description/urdf/ridgeback_baxter.urdf.xacro
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<?xml version="1.0"?>
<robot name="ridgeback_baxter" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="pedestal_height" value="0.565" />
<xacro:arg name="gazebo" default="false"/>
<xacro:arg name="pedestal" default="false"/>
<xacro:arg name="with_baxter" default="true"/>

<xacro:property name="pedestal_height" value="-0.92" />
<xacro:property name="pedestal_diameter" value="0.203" />
<xacro:property name="pedestal_offset_x" value="0.2" />
<xacro:property name="pedestal_offset_x" value="-0.2" />

<!-- Ridgeback URDF -->
<xacro:include filename="$(find ridgeback_description)/urdf/ridgeback.urdf.xacro" />
<xacro:include filename="$(find baxter_description)/urdf/baxter.urdf" />

<joint name="ridgeback_base_to_baxter" type="fixed">
<xacro:if value="$(arg with_baxter)">
<!-- Baxter URDF -->
<xacro:include filename="$(find baxter_description)/urdf/baxter.urdf.xacro">
<xacro:arg name="gazebo" value="${gazebo}"/>
<xacro:arg name="pedestal" value="${pedestal}"/>
</xacro:include>
</xacro:if>

<!-- Ridgeback-Baxter Joint URDF -->
<joint name="pedestal_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0" />
<parent link="torso" />
<child link="pedestal_stand" />
</joint>
<link name="pedestal_stand">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ridgeback_baxter_description/meshes/pedestal_stand.dae"/>
</geometry>
<material name="darkgray">
<color rgba=".2 .2 .2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://ridgeback_baxter_description/meshes/pedestal_stand_collision.dae"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="30.0"/>
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@rethink-imcmahon rethink-imcmahon Dec 15, 2015

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I am actually not sure if this is the right mass or inertia for the pedestal stand...

<inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
</inertial>
</link>
<joint name="baxter_to_ridgeback_base" type="fixed">
<origin rpy="0 0 0" xyz="${pedestal_offset_x} 0 ${pedestal_height}" />
<parent link="mid_mount" />
<child link="base" />
<parent link="pedestal_stand" />
<child link="base_link" />
</joint>

</robot>