Merge pull request #281 from fmessmer/feature/optimize_workspace

optimize workspace

Author: fmessmer

cob_cartesian_controller/launch/example.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- send lwa4p_extended urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
 
   <!-- robot state publisher -->
   <node ns="arm" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>

cob_obstacle_distance/launch/example.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- send lwa4p_extended urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
 
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
     <param name="use_gui" value="true"/>

cob_obstacle_distance/scripts/example_obstacle_publisher_node.py

@@ -65,7 +65,7 @@
     y = CollisionObject()
     y.id = "Funny Mesh"
     y.header.frame_id = frame_id
-    y.type.db = "package://cob_gazebo_objects/Media/models/milk.dae"
+    y.type.db = "package://mojin_gazebo_objects/Media/models/milk.dae"
     y.operation = CollisionObject.ADD
 
     pose = Pose()

cob_obstacle_distance/scripts/test_obstacle_publisher_node.py

@@ -64,8 +64,8 @@
     y = CollisionObject()
     y.id = "Funny Mesh"
     y.header.frame_id = root_frame
-    # y.type.db = "package://cob_gazebo_objects/Media/models/milk.dae"
-    y.type.db = "package://cob_gazebo_objects/Media/models/cabinet_ikea_kallax_4x2.stl"
+    # y.type.db = "package://mojin_gazebo_objects/Media/models/milk.dae"
+    y.type.db = "package://mojin_gazebo_objects/Media/models/cabinet_ikea_kallax_4x2.stl"
     # y.type.db = "package://cob_twist_controller/files/torus_0_25_inner_rad.stl"
     y.operation = CollisionObject.ADD
     # y.operation = CollisionObject.REMOVE

cob_obstacle_distance/src/cob_obstacle_distance.cpp

@@ -89,7 +89,7 @@ void addTestObstacles(DistanceManager& dm)
     FCL_Box b(0.1, 0.1, 0.1);  // Take care the nearest point for collision is one of the eight corners!!! This might lead to jittering
 
     PtrIMarkerShape_t sptr_Bvh(new MarkerShape<BVH_RSS_t>(dm.getRootFrame(),
-                                                          "package://cob_gazebo_objects/Media/models/milk.dae",
+                                                          "package://mojin_gazebo_objects/Media/models/milk.dae",
                                                            -0.35,
                                                            -0.35,
                                                             0.8));

cob_twist_controller/launch/example.launch

@@ -2,7 +2,7 @@
 <launch>
 
   <!-- send lwa4p_extended urdf to param server -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro '$(find schunk_lwa4p_extended)/urdf/robot.urdf.xacro'" />
 
   <!-- robot state publisher -->
   <node ns="arm" name="joint_states_relay" pkg="topic_tools" type="relay" args="joint_states /joint_states" cwd="node" respawn="true" output="screen"/>