[models] Add model config files, export path in package.xml

robotics-88 · May 9, 2021 · bf944e3 · bf944e3
1 parent 16419e1
commit bf944e3
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Showing 12 changed files with 94 additions and 14 deletions.
diff --git a/models/car/model.config b/models/car/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>car</name>
+  <version>1.0</version>
+  <sdf version="1.6">urdf/rusted_car.urdf.xacro</sdf>
+
+  <author>
+    <name>Ana Batinovic</name>
+  </author>
+
+  <description>
+    Car.
+  </description>
+</model>
diff --git a/models/car/urdf/rusted_car.urdf.xacro b/models/car/urdf/rusted_car.urdf.xacro
@@ -19,15 +19,15 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/car/meshes/car_mesh_1500.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/car/meshes/car_mesh_1500.dae"
             scale="0.6 0.6 0.6" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/car/meshes/car_mesh_1500.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/car/meshes/car_mesh_1500.dae"
             scale="0.6 0.6 0.6" />
         </geometry>
       </collision>

diff --git a/models/container/model.config b/models/container/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>container</name>
+  <version>1.0</version>
+  <sdf version="1.6">urdf/container.urdf.xacro</sdf>
+
+  <author>
+    <name>Ana Batinovic</name>
+  </author>
+
+  <description>
+    Container.
+  </description>
+</model>
diff --git a/models/container/urdf/container.urdf.xacro b/models/container/urdf/container.urdf.xacro
@@ -19,15 +19,15 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/container/meshes/container_mesh_1000.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/container/meshes/container_mesh_1000.dae"
             scale="5 5 4" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/container/meshes/container_mesh_1000.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/container/meshes/container_mesh_1000.dae"
             scale="5 5 4" />
         </geometry>
       </collision>

diff --git a/models/old_building/model.config b/models/old_building/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>old_building</name>
+  <version>1.0</version>
+  <sdf version="1.6">urdf/old_building.urdf.xacro</sdf>
+
+  <author>
+    <name>Ana Batinovic</name>
+  </author>
+
+  <description>
+    Old building.
+  </description>
+</model>
diff --git a/models/old_building/urdf/old_building.urdf.xacro b/models/old_building/urdf/old_building.urdf.xacro
@@ -19,15 +19,15 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/old_building/meshes/building.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/old_building/meshes/building.dae"
             scale="15 8 4" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/old_building/meshes/building.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/old_building/meshes/building.dae"
             scale="15 8 4" />
         </geometry>
       </collision>

diff --git a/models/tower/model.config b/models/tower/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>tower</name>
+  <version>1.0</version>
+  <sdf version="1.6">urdf/tower.urdf.xacro</sdf>
+
+  <author>
+    <name>Ana Batinovic</name>
+  </author>
+
+  <description>
+    Tower.
+  </description>
+</model>
diff --git a/models/tower/urdf/mbzirc_tower.urdf.xacro b/models/tower/urdf/mbzirc_tower.urdf.xacro
@@ -20,15 +20,15 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 -1.57" />
         <geometry>
-          <mesh filename="package://frontier_exploration_3d/models/tower/meshes/mbzirc_Tower.dae"
+          <mesh filename="package://uav_frontier_exploration_3d/models/tower/meshes/mbzirc_Tower.dae"
             scale="1 1 1" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 -1.57"/>
         <geometry>
-          <mesh filename="package://frontier_exploration_3d/models/tower/meshes/mbzirc_Tower.dae"
+          <mesh filename="package://uav_frontier_exploration_3d/models/tower/meshes/mbzirc_Tower.dae"
             scale="1 1 1" />
         </geometry>
       </collision>

diff --git a/models/tower/urdf/tower.urdf.xacro b/models/tower/urdf/tower.urdf.xacro
@@ -19,15 +19,15 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/tower/meshes/tower.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/tower/meshes/tower.dae"
             scale="1 1 1" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-           <mesh filename="package://frontier_exploration_3d/models/tower/meshes/tower.dae"
+           <mesh filename="package://uav_frontier_exploration_3d/models/tower/meshes/tower.dae"
             scale="1 1 1" />
         </geometry>
       </collision>

diff --git a/models/tree/model.config b/models/tree/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>tree</name>
+  <version>1.0</version>
+  <sdf version="1.6">urdf/tree.urdf.xacro</sdf>
+
+  <author>
+    <name>Ana Batinovic</name>
+  </author>
+
+  <description>
+    Tree.
+  </description>
+</model>
diff --git a/models/tree/urdf/tree.urdf.xacro b/models/tree/urdf/tree.urdf.xacro
@@ -20,14 +20,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://frontier_exploration_3d/models/tree/meshes/tree_25k_mesh.dae" scale="0.4 0.4 0.6" />
+          <mesh filename="package://uav_frontier_exploration_3d/models/tree/meshes/tree_25k_mesh.dae" scale="0.4 0.4 0.6" />
         </geometry>
       </visual>
 
       <collision name='collision'>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://frontier_exploration_3d/models/tree/meshes/tree_25k_mesh.dae" scale="0.4 0.4 0.6" />
+          <mesh filename="package://uav_frontier_exploration_3d/models/tree/meshes/tree_25k_mesh.dae" scale="0.4 0.4 0.6" />
         </geometry>
       </collision>
     </link>

diff --git a/package.xml b/package.xml
@@ -28,6 +28,8 @@
   <build_depend>nodelet</build_depend>
   <build_depend>libpcl-all-dev</build_depend>
   <build_depend>mean_shift_clustering</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>gazebo_ros</build_depend>
 
   <run_depend>geometry_msgs</run_depend>
   <run_depend>geographic_msgs</run_depend>
@@ -46,10 +48,13 @@
   <run_depend>nodelet</run_depend>
   <run_depend>libpcl-all</run_depend>
   <run_depend>mean_shift_clustering</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>gazebo_ros</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- Other tools can request additional information be placed here -->
-
+    <gazebo_ros gazebo_model_path="${prefix}/models"/>
+    <gazebo_ros gazebo_media_path="${prefix}/models"/>
   </export>
+
 </package>