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Add missing files
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‎turtlebot3_manipulation_description/CMakeLists.txt‎

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@@ -12,7 +12,7 @@ find_package(ament_cmake REQUIRED)
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################################################################################
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# Install
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################################################################################
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install(DIRECTORY launch rviz urdf meshes ros2_control
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install(DIRECTORY launch rviz urdf meshes ros2_control gazebo
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DESTINATION share/${PROJECT_NAME}
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)
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‎turtlebot3_manipulation_description/gazebo/materials.xacro‎

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<?xml version="1.0"?>
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<!--
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Copied from open_manipulator example -
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https://github.com/ROBOTIS-GIT/open_manipulator/blob/foxy-devel/open_manipulator_x_description/urdf/materials.xacro
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-->
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<robot>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="brown">
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<color rgba="0.8706 0.8118 0.7647 1.0"/>
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</material>
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<material name="dark">
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<color rgba="0.3 0.3 0.3 1.0"/>
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1.0"/>
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</material>
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<material name="light_black">
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<color rgba="0.4 0.4 0.4 1.0"/>
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</material>
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<material name="orange">
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<color rgba="1.0 0.4235 0.0392 1.0"/>
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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</robot>

‎turtlebot3_manipulation_description/gazebo/open_manipulator_x.gazebo.xacro‎

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<?xml version="1.0"?>
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<!--
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Copied and modified from turtlebot3 example:
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https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="open_manipulator_x_gazebo" params="prefix">
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<xacro:macro name="SimpleTransmission" params="trans joint actuator">
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<transmission name="${trans}">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${joint}">
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="${actuator}">
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<mechanicalReduction>1</mechanicalReduction>
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<hardwareInterface>PositionJointInterface</hardwareInterface>
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</actuator>
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</transmission>
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</xacro:macro>
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<xacro:macro name="Link" params="reference">
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<gazebo reference="${reference}">
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<mu1>30.0</mu1>
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<mu2>30.0</mu2>
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<maxVel>1.0</maxVel>
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<minDepth>0.001</minDepth>
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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</xacro:macro>
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<xacro:Link reference="${prefix}link1"/>
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<xacro:Link reference="${prefix}link2"/>
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<xacro:Link reference="${prefix}link3"/>
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<xacro:Link reference="${prefix}link4"/>
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<xacro:Link reference="${prefix}link5"/>
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<xacro:Link reference="${prefix}gripper_left_link"/>
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<xacro:Link reference="${prefix}gripper_right_link"/>
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<gazebo reference="${prefix}end_effector_link">
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<material>Gazebo/Red</material>
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</gazebo>
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<xacro:SimpleTransmission trans="${prefix}trans1" joint="${prefix}joint1" actuator="${prefix}actuator1" />
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<xacro:SimpleTransmission trans="${prefix}trans2" joint="${prefix}joint2" actuator="${prefix}actuator2" />
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<xacro:SimpleTransmission trans="${prefix}trans3" joint="${prefix}joint3" actuator="${prefix}actuator3" />
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<xacro:SimpleTransmission trans="${prefix}trans4" joint="${prefix}joint4" actuator="${prefix}actuator4" />
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<xacro:SimpleTransmission trans="${prefix}trans5" joint="${prefix}gripper_left_joint" actuator="${prefix}actuator5" />
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<xacro:SimpleTransmission trans="${prefix}trans6" joint="${prefix}gripper_right_joint" actuator="${prefix}actuator6" />
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</xacro:macro>
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</robot>

‎turtlebot3_manipulation_description/gazebo/turtlebot3_waffle_pi.gazebo.xacro‎

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<?xml version="1.0"?>
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<!--
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Copied and modified from turtlebot3 example:
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https://github.com/ROBOTIS-GIT/turtlebot3/blob/kinetic-devel/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.gazebo.xacro
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="turtlebot3_waffle_pi_gazebo" params="prefix">
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<xacro:property name="laser_visual" value="true"/>
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<xacro:property name="camera_visual" value="true"/>
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<xacro:property name="imu_visual" value="true"/>
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<gazebo reference="${prefix}base_link">
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<gazebo reference="${prefix}wheel_left_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>500000.0</kp>
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<kd>10.0</kd>
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<minDepth>0.001</minDepth>
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<maxVel>0.1</maxVel>
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<fdir1>1 0 0</fdir1>
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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<gazebo reference="${prefix}wheel_right_link">
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<mu1>10000</mu1>
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<mu2>10000</mu2>
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<kp>500000.0</kp>
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<kd>10.0</kd>
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<minDepth>0.001</minDepth>
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<maxVel>0.1</maxVel>
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<fdir1>1 0 0</fdir1>
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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<gazebo reference="${prefix}caster_back_right_link">
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<mu1>0.1</mu1>
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<mu2>0.1</mu2>
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<minDepth>0.001</minDepth>
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<maxVel>1.0</maxVel>
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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<gazebo reference="${prefix}caster_back_left_link">
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<mu1>0.1</mu1>
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<mu2>0.1</mu2>
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<kp>1000000.0</kp>
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<kd>100.0</kd>
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<minDepth>0.001</minDepth>
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<maxVel>1.0</maxVel>
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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<gazebo reference="${prefix}imu_link">
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<material>Gazebo/Grey</material>
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<sensor type="imu" name="imu">
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<always_on>true</always_on>
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<update_rate>100.0</update_rate>
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<visualize>${imu_visual}</visualize>
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</sensor>
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</gazebo>
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<gazebo>
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<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
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<ros>
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<namespace></namespace>
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<remapping>cmd_vel:=cmd_vel</remapping>
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<remapping>odom:=odom</remapping>
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</ros>
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<left_joint>wheel_left_joint</left_joint>
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<right_joint>wheel_right_joint</right_joint>
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<wheel_separation>0.287</wheel_separation>
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<wheel_diameter>0.066</wheel_diameter>
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<max_wheel_torque>20</max_wheel_torque>
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<max_wheel_acceleration>1.0</max_wheel_acceleration>
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<publish_odom>true</publish_odom>
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<publish_odom_tf>true</publish_odom_tf>
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<publish_wheel_tf>false</publish_wheel_tf>
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<odometry_frame>odom</odometry_frame>
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<robot_base_frame>base_footprint</robot_base_frame>
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</plugin>
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</gazebo>
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<gazebo reference="${prefix}base_scan">
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<material>Gazebo/FlatBlack</material>
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<sensor type="ray" name="lds_lfcd_sensor">
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<pose>0 0 0 0 0 0</pose>
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<always_on>true</always_on>
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<update_rate>5.0</update_rate>
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<visualize>${laser_visual}</visualize>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1</resolution>
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<min_angle>0.0</min_angle>
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<max_angle>6.28319</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.120</min>
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<max>3.5</max>
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<resolution>0.015</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<namespace></namespace>
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<remapping>~/out:=scan</remapping>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo reference="${prefix}camera_rgb_frame">
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<sensor type="camera" name="pi_camera">
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<update_rate>30</update_rate>
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<always_on>true</always_on>
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<visualize>${camera_visual}</visualize>
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<camera>
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<horizontal_fov>1.085595</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.03</near>
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<far>100</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame.
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That pixel's noise value is added to each of its color
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channels, which at that point lie in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<ros>
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<namespace></namespace>
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<remapping>image_raw:=image_raw</remapping>
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<remapping>camera_info:=camera_info</remapping>
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</ros>
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</plugin>
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</sensor>
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</gazebo>
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</xacro:macro>
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</robot>

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