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[Personalrobots-commit] SF.net SVN: personalrobots:[15133] pkg/trunk
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From: <hsu...@us...> - 2009-05-09 01:21:15
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Revision: 15133
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=15133&view=rev
Author: hsujohnhsu
Date: 2009-05-09 01:21:04 +0000 (Sat, 09 May 2009)
Log Message:
-----------
plugs setup in gazebo.
Modified Paths:
--------------
pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material
Added Paths:
-----------
pkg/trunk/demos/plug_in_gazebo/
pkg/trunk/demos/plug_in_gazebo/launch/
pkg/trunk/demos/plug_in_gazebo/launch/plug_only.launch
pkg/trunk/demos/plug_in_gazebo/launch/pr2_and_plug.launch
pkg/trunk/demos/plug_in_gazebo/manifest.xml
pkg/trunk/demos/plug_in_gazebo/plug_defs/
pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile
pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml
pkg/trunk/demos/plug_in_gazebo/plug_defs/send_description.launch
pkg/trunk/demos/plug_in_gazebo/robots/
pkg/trunk/demos/plug_in_gazebo/robots/plug_only.xacro.xml
pkg/trunk/demos/plug_in_gazebo/robots/pr2_and_plug.xacro.xml
pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/textures/plug_texture.jpg
Added: pkg/trunk/demos/plug_in_gazebo/launch/plug_only.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/plug_only.launch (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/launch/plug_only.launch 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,19 @@
+<launch>
+ <group name="wg">
+ <!-- send plug_only.xml to param server -->
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
+
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="$(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+ </group>
+
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" /> <!-- load default arm controller -->
+
+</launch>
+
Added: pkg/trunk/demos/plug_in_gazebo/launch/pr2_and_plug.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/launch/pr2_and_plug.launch (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/launch/pr2_and_plug.launch 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,24 @@
+<launch>
+ <group name="gazebo">
+ <include file="$(find pr2_alpha)/$(env ROBOT).machine" />
+ <!-- start gazebo -->
+ <node pkg="gazebo" type="gazebo" args="-n $(find gazebo_robot_description)/gazebo_worlds/empty.world" respawn="false" output="screen" machine="five">
+ <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugin)/lib:$(find gazebo)/gazebo/lib:$(find Cg)/Cg/lib:$(optenv LD_LIBRARY_PATH)" />
+ <env name="GAZEBO_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ <env name="OGRE_RESOURCE_PATH" value="$(find ogre)/ogre/lib/OGRE" />
+ <env name="MC_RESOURCE_PATH" value="$(find gazebo_robot_description)/world" />
+ </node>
+
+ <!-- send pr2.xml to param server -->
+ <!-- push robotdesc/pr2 to factory and spawn robot in gazebo -->
+ <param ns="pr2" name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/pr2_and_plug.xacro.xml'" />
+ <node pkg="gazebo_plugin" type="urdf2factory" args="robotdesc/pr2" respawn="false" output="screen" machine="five" />
+
+ <!-- uncomment for visualization -->
+ <!--
+ <node pkg="rviz" type="rviz" output="screen"/>
+ -->
+
+ </group>
+</launch>
+
Added: pkg/trunk/demos/plug_in_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/manifest.xml (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/manifest.xml 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,11 @@
+<package>
+ <description>Launch files for pluggin in in Gazebo.</description>
+ <author>John Hsu</author>
+ <license>BSD</license>
+ <review status="na" notes=""/>
+ <url>http://pr.willowgarage.com/wiki/FIXME</url>
+ <depend package="milestone2"/>
+ <depend package="plugs_core"/>
+ <depend package="pr2_gazebo"/>
+ <depend package="pr2_mechanism_controllers"/>
+</package>
Added: pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/plug_defs/Makefile 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,14 @@
+XACRO = `rospack find xacro`/xacro.py
+URDF2GAZEBO = `rospack find gazebo_plugin`/urdf2file
+ROBOT_PATH = `rospack find plug_in_gazebo`/robots
+
+ROBOT = plug
+
+$(ROBOT).model: $(ROBOT_PATH)/$(ROBOT).xacro.xml
+ $(XACRO) $^ > $^.expanded.xml
+ $(URDF2GAZEBO) $^.expanded.xml $(ROBOT_PATH)/$@
+
+clean:
+ $(RM) $(ROBOT).xml.expanded $(ROBOT_PATH)/$(ROBOT).model
+ $(RM) core.* Ogre.log
+
Added: pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/plug_defs/plug_defs.xml 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,335 @@
+<?xml version="1.0"?>
+<robot name="pr2"
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+ <property name="M_PI" value="3.1415926535897931" />
+
+ <property name="plug_x_loc" value="0.5" />
+ <property name="plug_y_loc" value="0.0" />
+ <property name="plug_z_loc" value="1.0" />
+ <property name="plug_x_size" value="0.07" />
+ <property name="plug_y_size" value="0.025" />
+ <property name="plug_z_size" value="0.03" />
+
+ <property name="wall_x_loc" value="5.0" />
+ <property name="handle_height" value="0.87" />
+ <property name="jack_offset_y" value="0.05" />
+ <property name="jack_offset_z" value="0.05" />
+ <property name="jack_size" value="0.04" />
+
+ <!-- joint blocks -->
+ <joint name="floor_joint" type="planar" />
+ <joint name="outlet_joint" type="fixed" />
+ <joint name="wall_joint" type="fixed" />
+ <joint name="jack1_joint" type="fixed" />
+ <joint name="jack2_joint" type="fixed" />
+ <joint name="jack3_joint" type="fixed" />
+ <joint name="jack4_joint" type="fixed" />
+ <joint name="plug_joint" type="planar" />
+
+ <!-- link blocks -->
+ <link name="plug_link">
+ <parent name="world" />
+ <origin xyz="${plug_x_loc} ${plug_y_loc} ${plug_z_loc}" rpy="0 0 0" />
+ <joint name="plug_joint" />
+ <inertial>
+ <mass value="1" />
+ <com xyz="0 0 0.0" />
+ <inertia ixx="0.1" ixy="0" ixz="0"
+ iyy="0.1" iyz="0"
+ izz="0.1" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="PR2/Plug" />
+ </map>
+ <geometry name="plug_visual_geom">
+ <mesh scale="${plug_x_size} ${plug_y_size} ${plug_z_size}" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <geometry name="plug_collision_geom">
+ <box size="${plug_x_size} ${plug_y_size} ${plug_z_size}" />
+ </geometry>
+ <map name="friction_coefficients" flag="gazebo">
+ <elem key="mu1" value="50.0" />
+ <elem key="mu2" value="50.0" />
+ <elem key="kp" value="100000000.0" />
+ <elem key="kd" value="1.0" />
+ </map>
+ </collision>
+ </link>
+
+ <link name="floor_link">
+ <parent name="world" />
+ <origin xyz="${wall_x_loc} 0.0 0.01" rpy="0 0 0" />
+ <joint name="floor_joint" />
+ <inertial>
+ <mass value="100" />
+ <com xyz="0 0 0.001" />
+ <inertia ixx="10" ixy="0" ixz="0"
+ iyy="10" iyz="0"
+ izz="10" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0.001" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/Grey" />
+ </map>
+ <geometry name="floor_visual_geom">
+ <mesh scale="4 4 0.002" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0.001" rpy="0.0 0.0 0.0" />
+ <geometry name="floor_collision_geom">
+ <box size="4 4 0.002" />
+ </geometry>
+ <map name="friction_coefficients" flag="gazebo">
+ <elem key="mu1" value="50.0" />
+ <elem key="mu2" value="50.0" />
+ <elem key="kp" value="100000000.0" />
+ <elem key="kd" value="1.0" />
+ </map>
+ </collision>
+ </link>
+
+ <link name="wall_link">
+ <parent name="floor_link" />
+ <origin xyz="0 0 1" rpy="0 0 0" />
+ <joint name="wall_joint" />
+ <inertial>
+ <mass value="100" />
+ <com xyz="0 0 1" />
+ <inertia ixx="10" ixy="0" ixz="0"
+ iyy="10" iyz="0"
+ izz="10" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/GrassFloor" />
+ </map>
+ <geometry name="wall_visual_geom">
+ <mesh scale="0.4 10 2" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
+ <geometry name="wall_collision_geom">
+ <box size="0.4 10 2" />
+ </geometry>
+ <map name="wall_intensity" flag="gazebo">
+ <elem key="laserRetro" value="0.5" />
+ </map>
+ </collision>
+ <map name="wall_collide" flag="gazebo">
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+
+ <link name="outlet_link">
+ <parent name="wall_link" />
+ <origin xyz="-0.21 0.0 -0.8" rpy="0 0 0" />
+ <joint name="outlet_joint" />
+ <inertial >
+ <mass value="1" />
+ <com xyz="0.0 0.0 0.0" />
+ <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+ iyy="0.1" iyz="0.0"
+ izz="0.1" />
+ </inertial>
+ <visual >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/White" />
+ </map>
+ <geometry name="outlet_visual">
+ <mesh scale="0.02 0.2 0.2" />
+ </geometry>
+ </visual>
+ <collision >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <geometry name="outlet_collision_geom">
+ <box size="0.02 0.2 0.2" />
+ </geometry>
+ <map name="outlet_intensity" flag="gazebo">
+ <elem key="laserRetro" value="10.0" />
+ </map>
+ </collision>
+ <map name="outlet_gravity" flag="gazebo">
+ <elem key="turnGravityOff" value="true" />
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+ <link name="jack1_link">
+ <parent name="outlet_link" />
+ <origin xyz="-0.006 ${-jack_offset_y} ${-jack_offset_z}" rpy="0 0 0" />
+ <joint name="jack1_joint" />
+ <inertial >
+ <mass value="1.0" />
+ <com xyz="0.0 0.0 0.0" />
+ <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+ iyy="0.1" iyz="0.0"
+ izz="0.1" />
+ </inertial>
+ <visual >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/Red" />
+ </map>
+ <geometry name="jack1_visual">
+ <mesh scale="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ </visual>
+ <collision >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <geometry name="jack1_collision_geom">
+ <box size="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ <map name="jack1_intensity" flag="gazebo">
+ <elem key="laserRetro" value="10.0" />
+ </map>
+ </collision>
+ <map name="jack1_gravity" flag="gazebo">
+ <elem key="turnGravityOff" value="true" />
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+ <link name="jack2_link">
+ <parent name="outlet_link" />
+ <origin xyz="-0.006 ${ jack_offset_y} ${-jack_offset_z}" rpy="0 0 0" />
+ <joint name="jack2_joint" />
+ <inertial >
+ <mass value="1.0" />
+ <com xyz="0.0 0.0 0.0" />
+ <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+ iyy="0.1" iyz="0.0"
+ izz="0.1" />
+ </inertial>
+ <visual >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/Red" />
+ </map>
+ <geometry name="jack2_visual">
+ <mesh scale="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ </visual>
+ <collision >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <geometry name="jack2_collision_geom">
+ <box size="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ <map name="jack2_intensity" flag="gazebo">
+ <elem key="laserRetro" value="10.0" />
+ </map>
+ </collision>
+ <map name="jack2_gravity" flag="gazebo">
+ <elem key="turnGravityOff" value="true" />
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+ <link name="jack3_link">
+ <parent name="outlet_link" />
+ <origin xyz="-0.006 ${-jack_offset_y} ${ jack_offset_z}" rpy="0 0 0" />
+ <joint name="jack3_joint" />
+ <inertial >
+ <mass value="1.0" />
+ <com xyz="0.0 0.0 0.0" />
+ <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+ iyy="0.1" iyz="0.0"
+ izz="0.1" />
+ </inertial>
+ <visual >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/Red" />
+ </map>
+ <geometry name="jack3_visual">
+ <mesh scale="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ </visual>
+ <collision >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <geometry name="jack3_collision_geom">
+ <box size="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ <map name="jack3_intensity" flag="gazebo">
+ <elem key="laserRetro" value="10.0" />
+ </map>
+ </collision>
+ <map name="jack3_gravity" flag="gazebo">
+ <elem key="turnGravityOff" value="true" />
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+ <link name="jack4_link">
+ <parent name="outlet_link" />
+ <origin xyz="-0.006 ${ jack_offset_y} ${ jack_offset_z}" rpy="0 0 0" />
+ <joint name="jack4_joint" />
+ <inertial >
+ <mass value="1.0" />
+ <com xyz="0.0 0.0 0.0" />
+ <inertia ixx="0.1" ixy="0.0" ixz="0.0"
+ iyy="0.1" iyz="0.0"
+ izz="0.1" />
+ </inertial>
+ <visual >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <map name="gazebo_material" flag="gazebo">
+ <elem key="material" value="Gazebo/Red" />
+ </map>
+ <geometry name="jack4_visual">
+ <mesh scale="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ </visual>
+ <collision >
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+ <geometry name="jack4_collision_geom">
+ <box size="0.01 ${jack_size} ${jack_size}" />
+ </geometry>
+ <map name="jack4_intensity" flag="gazebo">
+ <elem key="laserRetro" value="10.0" />
+ </map>
+ </collision>
+ <map name="jack4_gravity" flag="gazebo">
+ <elem key="turnGravityOff" value="true" />
+ <elem key="selfCollide" value="true" />
+ </map>
+ </link>
+
+
+ <map name="sensor" flag="gazebo">
+ <verbatim key="outlet_p3d_block">
+ <!-- ros_p3d for position groundtruth -->
+ <controller:ros_p3d name="p3d_outlet_controller" plugin="libros_p3d.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>100.0</updateRate>
+ <bodyName>outlet_link</bodyName>
+ <topicName>outlet_pose</topicName>
+ <frameName>map</frameName>
+ <interface:position name="p3d_outlet_position"/>
+ </controller:ros_p3d>
+ </verbatim>
+ </map>
+
+</robot>
Added: pkg/trunk/demos/plug_in_gazebo/plug_defs/send_description.launch
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/plug_defs/send_description.launch (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/plug_defs/send_description.launch 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,5 @@
+<launch>
+
+ <param name="robotdesc/pr2" command="$(find xacro)/xacro.py '$(find plug_in_gazebo)/robots/plug_only.xacro.xml'" />
+
+</launch>
Added: pkg/trunk/demos/plug_in_gazebo/robots/plug_only.xacro.xml
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/robots/plug_only.xacro.xml (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/robots/plug_only.xacro.xml 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot name="pr2"
+ xmlns:xi="http://www.w3.org/2001/XInclude"
+ xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+ xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+ xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+ xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+ xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics">
+
+
+ <include filename="$(find plug_in_gazebo)/plug_defs/plug_defs.xml" />
+
+ <map name="sensor" flag="gazebo">
+ <verbatim key="mechanism_control_simulation">
+
+ <controller:ros_time name="ros_time" plugin="libros_time.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:audio name="dummy_ros_time_iface_should_not_be_here"/>
+ </controller:ros_time>
+
+ <!-- no mechanism controllers for plug yet
+ <controller:gazebo_mechanism_control name="gazebo_mechanism_control_plug" plugin="libgazebo_mechanism_control.so">
+ <robotParam>robotdesc/pr2</robotParam>
+ <mechanismTopic>mechanism_state/pr2</mechanismTopic>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>1000.0</updateRate>
+ <interface:audio name="plug_gazebo_mechanism_control_dummy_iface" />
+ </controller:gazebo_mechanism_control>
+ -->
+ </verbatim>
+ </map>
+
+</robot>
Added: pkg/trunk/demos/plug_in_gazebo/robots/pr2_and_plug.xacro.xml
===================================================================
--- pkg/trunk/demos/plug_in_gazebo/robots/pr2_and_plug.xacro.xml (rev 0)
+++ pkg/trunk/demos/plug_in_gazebo/robots/pr2_and_plug.xacro.xml 2009-05-09 01:21:04 UTC (rev 15133)
@@ -0,0 +1,8 @@
+<?xml version="1.0"?>
+<robot name="pr2">
+
+ <!-- declare the path where all models/textures/materials are stored -->
+ <include filename="$(find plug_in_gazebo)/plug_defs/plug_defs.xml" />
+ <include filename="$(find pr2_defs)/robots/pr2.xacro.xml" />
+
+</robot>
Modified: pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material
===================================================================
--- pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material 2009-05-09 01:17:13 UTC (rev 15132)
+++ pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/scripts/pr2.material 2009-05-09 01:21:04 UTC (rev 15133)
@@ -186,4 +186,18 @@
}
}
+material PR2/Plug
+{
+ technique
+ {
+ pass
+ {
+ texture_unit
+ {
+ texture plug_texture.jpg
+ }
+ }
+ }
+}
+
Added: pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/textures/plug_texture.jpg
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/robot_descriptions/gazebo_robot_description/world/Media/materials/textures/plug_texture.jpg
___________________________________________________________________
Added: svn:mime-type
+ application/octet-stream
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