Used new model CAD for both rviz and gazebo

RoboJackets · Nov 19, 2023 · d6f1703 · d6f1703
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diff --git a/urc_gazebo/urdf/meshes/collision/base_link_collision.STL b/urc_gazebo/urdf/meshes/collision/base_link_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/bicep_collision.STL b/urc_gazebo/urdf/meshes/collision/bicep_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/claw_collision.STL b/urc_gazebo/urdf/meshes/collision/claw_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/elbow_collision.STL b/urc_gazebo/urdf/meshes/collision/elbow_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL b/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL
diff --git a/...ebo/urdf/meshes/leftgripper_collision.STL → ...eshes/collision/leftgripper_collision.STL b/...ebo/urdf/meshes/leftgripper_collision.STL → ...eshes/collision/leftgripper_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL b/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL b/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL
diff --git a/...bo/urdf/meshes/rightgripper_collision.STL → ...shes/collision/rightgripper_collision.STL b/...bo/urdf/meshes/rightgripper_collision.STL → ...shes/collision/rightgripper_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL b/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL b/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/spine_collision.STL b/urc_gazebo/urdf/meshes/collision/spine_collision.STL
diff --git a/urc_gazebo/urdf/meshes/collision/wrist_collision.STL b/urc_gazebo/urdf/meshes/collision/wrist_collision.STL
diff --git a/urc_gazebo/urdf/meshes/base_link.STL → urc_gazebo/urdf/meshes/old/base_link.STL b/urc_gazebo/urdf/meshes/base_link.STL → urc_gazebo/urdf/meshes/old/base_link.STL
diff --git a/...azebo/urdf/meshes/base_link_collision.STL → ...o/urdf/meshes/old/base_link_collision.STL b/...azebo/urdf/meshes/base_link_collision.STL → ...o/urdf/meshes/old/base_link_collision.STL
diff --git a/urc_gazebo/urdf/meshes/bicep.STL → urc_gazebo/urdf/meshes/old/bicep.STL b/urc_gazebo/urdf/meshes/bicep.STL → urc_gazebo/urdf/meshes/old/bicep.STL
diff --git a/urc_gazebo/urdf/meshes/bicep_collision.STL → ...azebo/urdf/meshes/old/bicep_collision.STL b/urc_gazebo/urdf/meshes/bicep_collision.STL → ...azebo/urdf/meshes/old/bicep_collision.STL
diff --git a/urc_gazebo/urdf/meshes/claw.STL → urc_gazebo/urdf/meshes/old/claw.STL b/urc_gazebo/urdf/meshes/claw.STL → urc_gazebo/urdf/meshes/old/claw.STL
diff --git a/urc_gazebo/urdf/meshes/claw_collision.STL → ...gazebo/urdf/meshes/old/claw_collision.STL b/urc_gazebo/urdf/meshes/claw_collision.STL → ...gazebo/urdf/meshes/old/claw_collision.STL
diff --git a/urc_gazebo/urdf/meshes/elbow.STL → urc_gazebo/urdf/meshes/old/elbow.STL b/urc_gazebo/urdf/meshes/elbow.STL → urc_gazebo/urdf/meshes/old/elbow.STL
diff --git a/urc_gazebo/urdf/meshes/elbow_collision.STL → ...azebo/urdf/meshes/old/elbow_collision.STL b/urc_gazebo/urdf/meshes/elbow_collision.STL → ...azebo/urdf/meshes/old/elbow_collision.STL
diff --git a/urc_gazebo/urdf/meshes/forearm.STL → urc_gazebo/urdf/meshes/old/forearm.STL b/urc_gazebo/urdf/meshes/forearm.STL → urc_gazebo/urdf/meshes/old/forearm.STL
diff --git a/urc_gazebo/urdf/meshes/forearm_collision.STL → ...ebo/urdf/meshes/old/forearm_collision.STL b/urc_gazebo/urdf/meshes/forearm_collision.STL → ...ebo/urdf/meshes/old/forearm_collision.STL
diff --git a/urc_gazebo/urdf/meshes/leftgripper.STL → urc_gazebo/urdf/meshes/old/leftgripper.STL b/urc_gazebo/urdf/meshes/leftgripper.STL → urc_gazebo/urdf/meshes/old/leftgripper.STL
diff --git a/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL b/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL
diff --git a/urc_gazebo/urdf/meshes/rightgripper.STL → urc_gazebo/urdf/meshes/old/rightgripper.STL b/urc_gazebo/urdf/meshes/rightgripper.STL → urc_gazebo/urdf/meshes/old/rightgripper.STL
diff --git a/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL b/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL
diff --git a/urc_gazebo/urdf/meshes/shoulder.STL → urc_gazebo/urdf/meshes/old/shoulder.STL b/urc_gazebo/urdf/meshes/shoulder.STL → urc_gazebo/urdf/meshes/old/shoulder.STL
diff --git a/...gazebo/urdf/meshes/shoulder_collision.STL → ...bo/urdf/meshes/old/shoulder_collision.STL b/...gazebo/urdf/meshes/shoulder_collision.STL → ...bo/urdf/meshes/old/shoulder_collision.STL
diff --git a/urc_gazebo/urdf/meshes/wrist.STL → urc_gazebo/urdf/meshes/old/wrist.STL b/urc_gazebo/urdf/meshes/wrist.STL → urc_gazebo/urdf/meshes/old/wrist.STL
diff --git a/urc_gazebo/urdf/meshes/wrist_collision.STL → ...azebo/urdf/meshes/old/wrist_collision.STL b/urc_gazebo/urdf/meshes/wrist_collision.STL → ...azebo/urdf/meshes/old/wrist_collision.STL
diff --git a/urc_gazebo/urdf/meshes/visual/base_link.STL b/urc_gazebo/urdf/meshes/visual/base_link.STL
diff --git a/urc_gazebo/urdf/meshes/visual/bicep.STL b/urc_gazebo/urdf/meshes/visual/bicep.STL
diff --git a/urc_gazebo/urdf/meshes/visual/claw.STL b/urc_gazebo/urdf/meshes/visual/claw.STL
diff --git a/urc_gazebo/urdf/meshes/visual/elbow.STL b/urc_gazebo/urdf/meshes/visual/elbow.STL
diff --git a/urc_gazebo/urdf/meshes/visual/left_center_wheel.STL b/urc_gazebo/urdf/meshes/visual/left_center_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/left_front_wheel.STL b/urc_gazebo/urdf/meshes/visual/left_front_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/left_rear_wheel.STL b/urc_gazebo/urdf/meshes/visual/left_rear_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/leftbogie.STL b/urc_gazebo/urdf/meshes/visual/leftbogie.STL
diff --git a/urc_gazebo/urdf/meshes/visual/leftgripper.STL b/urc_gazebo/urdf/meshes/visual/leftgripper.STL
diff --git a/urc_gazebo/urdf/meshes/visual/leftrocker.STL b/urc_gazebo/urdf/meshes/visual/leftrocker.STL
diff --git a/urc_gazebo/urdf/meshes/visual/right_center_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_center_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/right_front_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_front_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL
diff --git a/urc_gazebo/urdf/meshes/visual/rightbogie.STL b/urc_gazebo/urdf/meshes/visual/rightbogie.STL
diff --git a/urc_gazebo/urdf/meshes/visual/rightgripper.STL b/urc_gazebo/urdf/meshes/visual/rightgripper.STL
diff --git a/urc_gazebo/urdf/meshes/visual/rightrocker.STL b/urc_gazebo/urdf/meshes/visual/rightrocker.STL
diff --git a/urc_gazebo/urdf/meshes/visual/shoulder.STL b/urc_gazebo/urdf/meshes/visual/shoulder.STL
diff --git a/urc_gazebo/urdf/meshes/visual/spine.STL b/urc_gazebo/urdf/meshes/visual/spine.STL
diff --git a/urc_gazebo/urdf/meshes/visual/wrist.STL b/urc_gazebo/urdf/meshes/visual/wrist.STL
diff --git a/urc_hw_description/urdf/ros2_control.urdf b/urc_hw_description/urdf/ros2_control.urdf
@@ -52,4 +52,76 @@
             <state_interface name="cell8_voltage" />
         </sensor> -->
     </ros2_control>
-</robot>
+</robot>
+
+
+
+
+ <!-- mock_components/GenericSystem -->
+   <!-- gazebo_ros2_control/GazeboSystem -->
+   <!-- <ros2_control name="GazeboSimSystem" type="system">
+      <hardware>
+         <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+      </hardware>
+      <joint name="shoulderjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="bicepjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="elbowjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="wristjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="clawjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="leftgripperjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+      <joint name="rightgripperjoint">
+         <command_interface name="position" />
+         <state_interface name="position">
+            <param name="initial_value">0.0</param>
+         </state_interface>
+         <state_interface name="velocity" />
+         <state_interface name="effort" />
+      </joint>
+   </ros2_control> -->
+   <!-- <gazebo>
+      <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+         <parameters>file://$(find urc_gazebo)/urdf/config/RoboticArm_params.yaml</parameters>
+      </plugin>
+   </gazebo> -->