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Cleanup kitchen urdf #89

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Cleanup kitchen urdf #89

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509c62a
Add xacro prefix to kitchen_defs xml
artnie Jan 4, 2022
caa438e
Add xacro tags to rooms. clean wall/pillar macros
artnie Jan 4, 2022
f9d8149
Fix file include and xacro prefixes
artnie Jan 5, 2022
d2e8dfd
Add another xacro prefix
artnie Jan 11, 2022
b14c459
Use collada for visual meshes.
artnie Jan 17, 2022
7adfb5b
Update launchfiles for noetic
artnie Jan 17, 2022
652a9e8
Replace urdf with urdf_obj
artnie Jan 17, 2022
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6 changes: 3 additions & 3 deletions iai_kitchen/launch/gazebo_spawn_kitchen.launch
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
<?xml version="1.0"?>

<launch>
<arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
<param name="kitchen_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
<param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />


<arg
Expand Down Expand Up @@ -32,7 +32,7 @@
<node
name="kitchen_state_publisher_gazebo"
pkg="robot_state_publisher"
type="state_publisher" >
type="robot_state_publisher" >
<param name="tf_prefix" value="iai_kitchen"/>
<remap from="robot_description" to="kitchen_description"/>
<remap from="joint_states" to="kitchen_joint_states"/>
Expand Down
6 changes: 3 additions & 3 deletions iai_kitchen/launch/publish_iai_kitchen_on_tf.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
<!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
the right way and the right place -->

<arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
<param name="kitchen_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
<param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />

<node pkg="tf"
type="static_transform_publisher"
Expand All @@ -24,7 +24,7 @@

<node name="kitchen_state_publisher"
pkg="robot_state_publisher"
type="state_publisher" >
type="robot_state_publisher" >
<remap from="robot_description" to="kitchen_description"/>
<remap from="joint_states" to="kitchen_joint_states"/>
<!-- param name="tf_prefix" value="iai_kitchen"/-->
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72 changes: 25 additions & 47 deletions iai_kitchen/launch/upload_kitchen.launch
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Original file line number Diff line number Diff line change
@@ -1,57 +1,35 @@
<?xml version="1.0"?>

<launch>
<!--
<arg name="model" default="$(find iai_kitchen)/urdf/IAI_oven.urdf.xacro"/>
-->
<arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
<param name="oven_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" />

<!--
<node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster"
args="-3.465 -4.35 0 -3.141592654 0 0 /map /room_link 200">
</node>
-->
<node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster"
args="0.0 0.0 0. 0.0 0. 0. /map /iai_kitchen/room_link 200">

<!-- statically publish on /tf the urdf of iai kitchen -->
<!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
the right way and the right place -->

<arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
<param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />

<node pkg="tf"
type="static_transform_publisher"
name="iai_kitchen_room_link_broadcaster"
args="0.0 0.0 0. 0.0 0. 0. map iai_kitchen/world 25">
</node>
<arg
name="gui"
default="True" />
<param
name="use_gui"
value="$(arg gui)" />
<node
name="joint_state_publisher"
pkg="joint_state_publisher"
type="joint_state_publisher" >

<node pkg="joint_state_publisher" type="joint_state_publisher"
name="kitchen_joint_state_publisher" output="screen">
<remap from="robot_description" to="kitchen_description"/>
<param name="rate" value="25"/>
<remap from="/joint_states" to="/kitchen/joint_states" />
<rosparam param="source_list">
- /kitchen/cram_joint_states
</rosparam>
</node>
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="state_publisher" >

<node name="kitchen_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
<remap from="robot_description" to="kitchen_description"/>
<remap from="joint_states" to="/kitchen/joint_states"/>
<param name="tf_prefix" value="iai_kitchen"/>
<param name="publish_frequency" value="3"/>
</node>
<!--
<node
name="tf2_web_republisher"
pkg="tf2_web_republisher"
type="tf2_web_republisher" >
</node>

-->
<!--
<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />


<param name="knowrob_html_package" type="string" value="boxy_vis" />
<param name="knowrob_welcome_file" type="string" value="boxy.html" />

<param name="initial_package" type="string" value="knowrob_vis" />
<param name="initial_goal" type="string" value="visualisation_server,visualisation_canvas" />
<node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" />
-->

</launch>
35 changes: 0 additions & 35 deletions iai_kitchen/launch/upload_kitchen_obj.launch
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