Redo screenshots, clean up rviz config, add README, general cleanup (#48

)

CMakeLists.txt

@@ -10,4 +10,5 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 install(DIRECTORY images meshes launch rviz urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

README.md

@@ -1,2 +1,11 @@
-# urdf_tutorial
-See the tutorials over at http://wiki.ros.org/urdf_tutorial
+# urdf_tutorial: Learning URDF Step by Step
+
+ 1. [Building a Visual Robot Model with URDF from Scratch](https://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch) - Learn how to build a visual model of a robot that you can view in Rviz
+
+ 1. [Building a Movable Robot Model with URDF](https://wiki.ros.org/urdf/Tutorials/Building%20a%20Movable%20Robot%20Model%20with%20URDF) - Learn how to define movable joints in URDF
+
+ 1. [Adding Physical and Collision Properties to a URDF Model](https://wiki.ros.org/urdf/Tutorials/Adding%20Physical%20and%20Collision%20Properties%20to%20a%20URDF%20Model) - Learn how to add collision and inertial properties to links, and how to add joint dynamics to joints.
+
+ 1. [Using Xacro to Clean Up a URDF File](https://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File) - Learn some tricks to reduce the amount of code in a URDF file using Xacro
+
+See also [urdf_sim_tutorial](https://github.com/ros/urdf_sim_tutorial) for the final tutorial: [Using a URDF in Gazebo](https://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo) - Preliminary tutorial on how to spawn and control your robot in Gazebo.

rviz/urdf.rviz

@@ -1,157 +1,37 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
     Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1
-        - /TF1
-      Splitter Ratio: 0.5
-    Tree Height: 557
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
   - Class: rviz/Views
-    Expanded:
-      - /Current View1
     Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
 Visualization Manager:
-  Class: ""
   Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
+    - Class: rviz/Grid
       Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 0.5
+    - Alpha: 0.8
       Class: rviz/RobotModel
-      Collision Enabled: false
       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_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_leg:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
       Value: true
-      Visual Enabled: true
     - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base_link:
-          Value: true
-        right_leg:
-          Value: true
-      Marker Scale: 0.5
       Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        base_link:
-          right_leg:
-            {}
-      Update Interval: 0
-      Value: true
-  Enabled: true
+      Value: false
   Global Options:
-    Background Color: 48; 48; 48
     Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
     - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
   Value: true
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 4.48689
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+      Distance: 1.7
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.695397
-      Target Frame: <Fixed Frame>
+      Pitch: 0.33
       Value: Orbit (rviz)
-      Yaw: 0.513582
-    Saved: ~
+      Yaw: 5.5
 Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 882
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c3fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000002c3000000de00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000043000002c3000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000025800fffffffb0000000800540069006d0065010000000000000450000000000000000000000269000002c300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1216
-  X: 17
-  Y: 28
+  Height: 800
+  Width: 1200