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updated the cmake to make it ros2 compatible #2

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updated the cmake to make it ros2 compatible #2

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f82eb33
updated the cmake to make it ros2 compatible
WilliamBonilla62 Sep 30, 2025
de608d9
added no payload sensor version
WilliamBonilla62 Sep 30, 2025
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27 changes: 15 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,18 +1,21 @@
cmake_minimum_required(VERSION 3.5.1)
cmake_minimum_required(VERSION 3.8)
project(anymal_d_simple_description)

find_package(catkin)
find_package(ament_cmake REQUIRED)

catkin_package()

install(DIRECTORY config launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
install(DIRECTORY
config
doc
launch
meshes
urdf
DESTINATION share/${PROJECT_NAME}
)

if(CATKIN_ENABLE_TESTING)
find_package(catkin REQUIRED
COMPONENTS
roslaunch
)
roslaunch_add_file_check(launch/load.launch)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()

endif()

ament_package()
131 changes: 1 addition & 130 deletions urdf/anymal.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -1399,133 +1399,4 @@
</inertial>
</link>

<!-- If no Inspection payload is mounted, this cover protects the open hatch. -->
<!-- <joint name="base_to_hatch" type="fixed">-->
<!-- <parent link="base"/>-->
<!-- <child link="hatch"/>-->
<!-- <origin rpy="0 0 0" xyz="0.14253 0.0 0.092"/>-->
<!-- </joint>-->
<!-- <link name="hatch">-->
<!-- <visual>-->
<!-- <origin rpy="0 0 0" xyz="0 0 0"/>-->
<!-- <geometry>-->
<!-- <mesh filename="package://anymal_d_simple_description/meshes/hatch.dae" scale="1.0 1.0 1.0"/>-->
<!-- </geometry>-->
<!-- </visual>-->
<!-- <inertial>-->
<!-- <origin rpy="0 0 0" xyz="0.06631 0.00 0.01119"/>-->
<!-- <mass value="0.09653"/>-->
<!-- <inertia ixx="0.00019173168" ixy="0.00002292922" ixz="0.00000308205" iyy="0.00144879520" iyz="0.00000584565" izz="0.00162332503"/>-->
<!-- </inertial>-->
<!-- </link>-->

<!-- Inspection Payload -->
<joint name="base_to_inspection_payload_mount" type="fixed">
<parent link="base"/>
<child link="inspection_payload_mount"/>
<origin rpy="0 0 0" xyz="0.14253 0.0 0.092"/>
</joint>
<link name="inspection_payload_mount">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_d_simple_description/meshes/mount.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.00290 0.00 0.01050"/>
<mass value="0.21580"/>
<inertia ixx="0.00023461260" ixy="0.00000000486" ixz="0.00000355757" iyy="0.00020272719" iyz="0.00000000936" izz="0.00040505639"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.16 0.135 0.015"/>
</geometry>
</collision>
</link>
<joint name="inspection_payload_mount_to_pan" type="revolute">
<parent link="inspection_payload_mount"/>
<child link="inspection_payload_pan"/>
<limit effort="20" lower="-2.6" upper="2.6" velocity="2"/>
<origin rpy="0 0 0" xyz="0 0 0.023"/>
<axis xyz="0 0 1"/>
<dynamics damping="0.05" friction="0.01"/>
</joint>
<link name="inspection_payload_pan">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_d_simple_description/meshes/pan.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.00068 -0.00349 0.07578"/>
<mass value="3.18886"/>
<inertia ixx="0.02661619524" ixy="0.00040736245" ixz="0.00195095864" iyy="0.01515399107" iyz="0.00077034252" izz="0.02200752038"/>
</inertial>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.125"/>
<geometry>
<box size="0.18 0.24 0.21"/>
</geometry>
</collision>
</link>
<joint name="inspection_payload_pan_to_tilt" type="revolute">
<parent link="inspection_payload_pan"/>
<child link="inspection_payload_tilt"/>
<limit effort="20" lower="-1.570796" upper="1.570796" velocity="2"/>
<origin rpy="0 0 0" xyz="0.03 0 0.152"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.1" friction="0.5"/>
</joint>
<link name="inspection_payload_tilt">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://anymal_d_simple_description/meshes/tilt.dae" scale="1 1 1"/>
</geometry>
</visual>
<inertial>
<origin rpy="0 0 0" xyz="0.00534 -0.00379 -0.00091"/>
<mass value="2.084"/>
<inertia ixx="0.00743579757" ixy="0.00006988521" ixz="0.00003254125" iyy="0.00619264016" iyz="0.00002659381" izz="0.00593296152"/>
</inertial>
</link>
<joint name="inspection_payload_tilt_to_head" type="fixed">
<parent link="inspection_payload_tilt"/>
<child link="inspection_payload_head"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="inspection_payload_head"/>
<joint name="inspection_payload_head_to_camera" type="fixed">
<parent link="inspection_payload_head"/>
<child link="inspection_payload_camera"/>
<origin rpy="-1.57079633 0 -1.57079633" xyz="0.055 -0.023 0.031"/>
</joint>
<link name="inspection_payload_camera"/>
<joint name="inspection_payload_head_to_thermal_camera" type="fixed">
<parent link="inspection_payload_head"/>
<child link="inspection_payload_thermal_camera"/>
<origin rpy="-1.57079633 0 -1.57079633" xyz="0.06840 -0.02300 -0.03000"/>
</joint>
<link name="inspection_payload_thermal_camera"/>
<joint name="inspection_payload_head_to_light" type="fixed">
<parent link="inspection_payload_head"/>
<child link="inspection_payload_light"/>
<origin rpy="-1.57079633 0 -1.57079633" xyz="0.05495 0.03000 0.03116"/>
</joint>
<link name="inspection_payload_light"/>
<joint name="inspection_payload_head_to_microphone" type="fixed">
<parent link="inspection_payload_head"/>
<child link="inspection_payload_microphone"/>
<origin rpy="-1.57079633 0 -1.57079633" xyz="0.06840 0.02300 -0.03000"/>
</joint>
<link name="inspection_payload_microphone"/>
<joint name="inspection_payload_mount_to_camera_default" type="fixed">
<parent link="inspection_payload_mount"/>
<child link="inspection_payload_camera_default"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.175"/>
</joint>
<link name="inspection_payload_camera_default"/>
</robot>
</robot>
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