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Merge pull request #61 from ROBOTIS-GIT/master
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merge for sync kinetic-devel and master branch
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@robotpilot
robotpilot authored May 25, 2017
2 parents 0e28c3b + 68e3a3e commit b8cb593
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Showing 9 changed files with 259 additions and 5 deletions.
2 changes: 1 addition & 1 deletion turtlebot3_bringup/launch/turtlebot3_lidar.launch
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<launch>

<node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="hlds_laser_publisher" output="screen">
<node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
<param name="port" value="/dev/ttyUSB0"/>
<param name="frame_id" value="base_scan"/>
</node>
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Binary file modified turtlebot3_description/meshes/bases/waffle_base.stl
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Binary file added turtlebot3_description/meshes/bases/waffle_base_naked.stl
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2 changes: 1 addition & 1 deletion turtlebot3_description/urdf/common_properties.xacro
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Expand Up @@ -24,7 +24,7 @@
</material>

<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
<color rgba="0.5 0.5 0.5 1.0"/>
</material>

<material name="orange">
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3 changes: 1 addition & 2 deletions turtlebot3_description/urdf/turtlebot3_waffle.urdf.xacro
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Expand Up @@ -33,7 +33,6 @@
<geometry>
<box size="0.265 0.265 0.089"/>
</geometry>
<material name="light_black"/>
</collision>
<inertial>
<origin xyz="-0.064 0 0" rpy="0 0 0"/>
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</link>

<joint name="camera_joint" type="fixed">
<origin xyz="0.076 -0.065 0.084" rpy="0 0 0"/>
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
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255 changes: 255 additions & 0 deletions turtlebot3_description/urdf/turtlebot3_waffle_naked.urdf.xacro
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<?xml version="1.0" ?>
<robot name="turtlebot3_waffle" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
<xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle.gazebo.xacro"/>

<xacro:property name="r200_cam_offset_px" value="0.1" />
<xacro:property name="r200_cam_offset_py" value="-0.028" />
<xacro:property name="r200_cam_offset_pz" value="0.110" />

<xacro:property name="r200_cam_rgb_px" value="0.005"/>
<xacro:property name="r200_cam_rgb_py" value="0.018"/>
<xacro:property name="r200_cam_rgb_pz" value="0.013"/>
<xacro:property name="r200_cam_depth_offset" value="0.01"/>

<link name="base_footprint"/>

<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.010" rpy="0 0 0"/>
</joint>

<link name="base_link">
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_base_naked.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.064 0 0.048" rpy="0 0 0"/>
<geometry>
<box size="0.265 0.265 0.089"/>
</geometry>
</collision>
<inertial>
<origin xyz="-0.064 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0"
izz="0.01" />
</inertial>
</link>

<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.144 0.023" rpy="${-M_PI*0.5} 0 0"/>
<axis xyz="0 0 1"/>
</joint>

<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI*0.5} 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>

<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.144 0.023" rpy="${-M_PI*0.5} 0 0"/>
<axis xyz="0 0 1"/>
</joint>

<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI*0.5} 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>

<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
<origin xyz="-0.177 -0.064 -0.004" rpy="${-M_PI*0.5} 0 0"/>
</joint>

<link name="caster_back_right_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.030 0.010 0.020"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>

<joint name="caster_back_left_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="${-M_PI*0.5} 0 0"/>
</joint>

<link name="caster_back_left_link">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.030 0.010 0.020"/>
</geometry>
</collision>

<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>

<!-- TurtleBot3 Sensors-->
<!-- <joint name="gyro_joint" type="fixed">
<parent link="base_link"/>
<child link="gyro_link"/>
<origin xyz="0.064 0 0.057" rpy="0 0 0"/>
</joint>
<link name="gyro_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>-->

<!-- <joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.064 0 0.121" rpy="0 0 0"/>
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0408" radius="0.070"/>
</geometry>
</collision>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>-->

<joint name="camera_joint" type="fixed">
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>

<link name="camera_link">
<visual>
<origin xyz="0 0 0" rpy="${M_PI*0.5} 0 ${M_PI*0.5}"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.003 0.065 0.010" rpy="0 0 0"/>
<geometry>
<box size="0.008 0.130 0.022"/>
</geometry>
</collision>

<!-- This inertial field needs doesn't contain reliable data!! -->
<!-- <inertial>
<mass value="0.564" />
<origin xyz="0 0 0" />
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
iyy="0.000498940" iyz="0.0"
izz="0.003879257" />
</inertial>-->
</link>

<joint name="camera_rgb_joint" type="fixed">
<origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>

<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>

<joint name="camera_depth_joint" type="fixed">
<origin xyz="0 ${r200_cam_depth_offset} 0" rpy="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_depth_frame"/>
</joint>
<link name="camera_depth_frame"/>

<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/>
<parent link="camera_depth_frame"/>
<child link="camera_depth_optical_frame"/>
</joint>
<link name="camera_depth_optical_frame"/>

</robot>
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2 changes: 1 addition & 1 deletion turtlebot3_navigation/maps/map.yaml
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image: /home/darby/map.pgm
image: /home/User/map.pgm
resolution: 0.050000
origin: [-10.000000, -10.000000, 0.000000]
negate: 0
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Binary file added turtlebot3_slam/bag/TB3_WAFFLE_SLAM.bag
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