1.0.6

Author: SawYer-Robotics

README.md

@@ -3,7 +3,10 @@ roch_robot
 
 Robot ROS packages for the SawYer roch, for operating robot hardware.
 
- - roch_bringup : Bringup launch files and scripts.
  - roch_base : Hardware driver for communicating with the onboard MCU.
  - roch_ftdi : Udev rules files that how to identify /dev/roch.
-
+ - roch_control : Control configuration
+ - roch_description : Robot description (URDF)
+ - roch_msgs : Message definitions
+ - roch_safety_controller : Roch safety controller avoid collision.
+ - roch_sensorpc : Roch sensors publisher using with navigation.

roch_description/CHANGELOG.rst

@@ -0,0 +1,24 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package roch_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+1.0.6 (2017-01-17)
+------------------
+
+0.1.2 (2016-12-14)
+------------------
+* add Rplidar A1 model
+* Contributors: Carl
+
+
+0.1.1 (2016-12-02)
+------------------
+* add Intel r200 model
+* Contributors: Carl
+
+
+0.1.0 (2016-10-30)
+------------------
+* Catkinized
+* Contributors: Carl
+
+

roch_description/CMakeLists.txt

@@ -0,0 +1,16 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(roch_description)
+
+find_package(catkin REQUIRED COMPONENTS roslaunch)
+
+catkin_package()
+catkin_add_env_hooks(50.roch_description
+  SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+
+roslaunch_add_file_check(launch)
+
+install(
+  DIRECTORY launch meshes urdf robots
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

roch_description/README.md

@@ -0,0 +1,6 @@
+roch_description
+=================
+
+Roch URDF description.
+
+Viewer launchfile is in roch_viz package: `roslaunch roch_viz view_model.launch`

roch_description/env-hooks/50.roch_description.sh

@@ -0,0 +1 @@
+export ROCH_DESCRIPTION=$(catkin_find --without-underlays --first-only roch_description robots/roch_standard_asus_xtion_pro.urdf.xacro 2>/dev/null)

roch_description/launch/description.launch

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="base"/>
+  <arg name="stacks"/>
+  <arg name="3d_sensor"/>
+
+  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
+  <param name="robot_description" command="$(arg urdf_file)" />
+
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="5.0" />
+  </node>
+
+
+</launch>