From 7da27e4cb8da9d6898c5a3013f8ec3807a8753ac Mon Sep 17 00:00:00 2001 From: pimpest <82343504+pimpest@users.noreply.github.com> Date: Sun, 4 Jan 2026 19:31:08 +0100 Subject: [PATCH] Added robotoid's urdf --- toid_bot_description/CMakeLists.txt | 34 +++ toid_bot_description/LICENSE | 17 ++ toid_bot_description/launch/display.launch.py | 50 ++++ toid_bot_description/package.xml | 24 ++ toid_bot_description/rviz/default.rviz | 235 ++++++++++++++++++ .../src/toid_bot_control.xacro | 35 +++ .../src/toid_bot_description.urdf | 117 +++++++++ 7 files changed, 512 insertions(+) create mode 100644 toid_bot_description/CMakeLists.txt create mode 100644 toid_bot_description/LICENSE create mode 100644 toid_bot_description/launch/display.launch.py create mode 100644 toid_bot_description/package.xml create mode 100644 toid_bot_description/rviz/default.rviz create mode 100644 toid_bot_description/src/toid_bot_control.xacro create mode 100644 toid_bot_description/src/toid_bot_description.urdf diff --git a/toid_bot_description/CMakeLists.txt b/toid_bot_description/CMakeLists.txt new file mode 100644 index 0000000..2f099e8 --- /dev/null +++ b/toid_bot_description/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 3.8) +project(toid_bot_description) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +install( + DIRECTORY + src + launch + rviz + DESTINATION share/${PROJECT_NAME} +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/toid_bot_description/LICENSE b/toid_bot_description/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/toid_bot_description/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/toid_bot_description/launch/display.launch.py b/toid_bot_description/launch/display.launch.py new file mode 100644 index 0000000..17f9afe --- /dev/null +++ b/toid_bot_description/launch/display.launch.py @@ -0,0 +1,50 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.conditions import IfCondition, UnlessCondition +from launch.substitutions import Command, LaunchConfiguration +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +import os + +def generate_launch_description(): + pkg_share = FindPackageShare("").find('toid_bot_description') + default_model_path = os.path.join(pkg_share, 'src', 'toid_bot_description.urdf') + default_rviz_config_path = os.path.join(pkg_share, 'rviz', 'default.rviz') + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + parameters=[{'robot_description': Command(['xacro ', LaunchConfiguration('model')])}] + ) + + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher', + parameters=[{'robot_description': Command(['xacro ', default_model_path])}], + condition=UnlessCondition(LaunchConfiguration('gui')) + ) + + joint_state_publisher_gui_node = Node( + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui', + condition=IfCondition(LaunchConfiguration('gui')) + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + output='screen', + arguments=['-d', default_rviz_config_path] + ) + + return LaunchDescription([ + DeclareLaunchArgument(name='gui', default_value='True', description='Flag to enable joint_state_publisher'), + DeclareLaunchArgument(name='model', default_value=default_model_path, description='Path to model'), + robot_state_publisher_node, + joint_state_publisher_node, + joint_state_publisher_gui_node, + rviz_node + ]) \ No newline at end of file diff --git a/toid_bot_description/package.xml b/toid_bot_description/package.xml new file mode 100644 index 0000000..4d1a5ed --- /dev/null +++ b/toid_bot_description/package.xml @@ -0,0 +1,24 @@ + + + + toid_bot_description + 0.0.0 + TODO: Package description + pimpest + MIT + + ament_cmake + + joint_state_publisher + joint_state_publisher_gui + robot_state_publisher + rviz2 + xacro + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/toid_bot_description/rviz/default.rviz b/toid_bot_description/rviz/default.rviz new file mode 100644 index 0000000..5c953cf --- /dev/null +++ b/toid_bot_description/rviz/default.rviz @@ -0,0 +1,235 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 542 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + lidar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + drivewhl_l_link: + Value: true + drivewhl_r_link: + Value: true + left_caster: + Value: true + lidar: + Value: true + right_caster: + Value: true + Marker Scale: 0.30000001192092896 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + base_footprint: + {} + drivewhl_l_link: + {} + drivewhl_r_link: + {} + left_caster: + {} + lidar: + {} + right_caster: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_footprint + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/XYOrbit + Distance: 1.59040105342865 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6053992509841919 + Target Frame: + Value: XYOrbit (rviz_default_plugins) + Yaw: 1.088563323020935 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016c000002acfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003f000002ac000000cc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003f000002ac000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002de00fffffffb0000000800540069006d0065010000000000000450000000000000000000000229000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 60 + Y: 60 diff --git a/toid_bot_description/src/toid_bot_control.xacro b/toid_bot_description/src/toid_bot_control.xacro new file mode 100644 index 0000000..32f2b6b --- /dev/null +++ b/toid_bot_description/src/toid_bot_control.xacro @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + mock_components/GenericSystem + true + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/toid_bot_description/src/toid_bot_description.urdf b/toid_bot_description/src/toid_bot_description.urdf new file mode 100644 index 0000000..83de634 --- /dev/null +++ b/toid_bot_description/src/toid_bot_description.urdf @@ -0,0 +1,117 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file