Merge pull request #7 from chvmp/spot

Working Gazebo model

mini_ros/package.xml

@@ -69,7 +69,8 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>visualization_msgs</exec_depend>
-
+  <exec_depend>hector_gazebo_plugins</exec_depend>
+  <exec_depend>hector_sensors_description</exec_depend>
   <test_depend>rostest</test_depend>
   <test_depend>rosunit</test_depend>
 

mini_ros/urdf/accessories.urdf.xacro

@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
+    <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+    <xacro:hokuyo_utm30lx 
+        name="hokuyo" 
+        parent="base_link" 
+        ros_topic="scan" 
+        update_rate="30" 
+        ray_count="1040" 
+        min_angle="130" 
+        max_angle="-130" >
+        <origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
+    </xacro:hokuyo_utm30lx>
+
+    <gazebo reference="hokuyo_frame">
+		<material>Gazebo/FlatBlack</material>
+	</gazebo>
+
+    <!-- <xacro:asus_camera 
+        parent="base_link" 
+        name="camera">
+        <origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
+    </xacro:asus_camera> -->
+
+    <gazebo>
+        <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
+            <updateRate>50.0</updateRate>
+            <bodyName>imu_link</bodyName>
+            <topicName>imu/data</topicName>
+            <accelDrift>0.005 0.005 0.005</accelDrift>
+            <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
+            <rateDrift>0.005 0.005 0.005 </rateDrift>
+            <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
+            <headingDrift>0.005</headingDrift>
+            <headingGaussianNoise>0.005</headingGaussianNoise>
+        </plugin>
+    </gazebo>
+
+    <link name="imu_link">
+        <inertial>
+            <mass value="0.001"/>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
+        </inertial>
+    </link>
+    <joint name="imu_joint" type="fixed">
+        <parent link="base_link" />
+        <child link="imu_link" />
+    </joint>
+
+    <!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
+    <xacro:champ_arm parent="base_link">
+        <origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
+    </xacro:champ_arm> -->
+</robot>