[hrpsys_gazebo_tutorials] Use hrpsys_ros_bridge_tutorials' models and do

not generate special urdf for gazebo simulation

hrpsys_gazebo_tutorials/CMakeLists.txt

@@ -14,37 +14,6 @@ catkin_package(CATKIN_DEPENDS euscollada hrpsys_ros_bridge hrpsys_ros_bridge_tut
 catkin_add_env_hooks(99.hrpsys_gazebo_tutorials SHELLS bash zsh
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
 
-if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR AND hrpsys_ros_bridge_tutorials_SOURCE_PREFIX)
-  set(hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_PREFIX})
-endif(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR AND hrpsys_ros_bridge_tutorials_SOURCE_PREFIX)
-
-if(NOT hrpsys_ros_bridge_tutorials_SOURCE_DIR)
-  execute_process(
-    COMMAND rospack find hrpsys_ros_bridge_tutorials
-    OUTPUT_VARIABLE hrpsys_ros_bridge_tutorials_SOURCE_DIR)
-  string(REGEX REPLACE "\n" "" hrpsys_ros_bridge_tutorials_SOURCE_DIR ${hrpsys_ros_bridge_tutorials_SOURCE_DIR})
-endif()
-
-## Convert robot models
-if(EXISTS ${hrpsys_gazebo_general_SOURCE_DIR})
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_DIR})
-elseif(EXISTS ${hrpsys_gazebo_general_SOURCE_PREFIX})
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_SOURCE_PREFIX})
-else()
-  set(hrpsys_gazebo_general_PACKAGE_PATH ${hrpsys_gazebo_general_PREFIX}/share/hrpsys_gazebo_general)
-endif()
-include(${hrpsys_gazebo_general_PACKAGE_PATH}/cmake/compile_robot_model_for_gazebo.cmake)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/SampleRobot.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_L.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP3HAND_R.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSK.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNT.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP2JSKNTS.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/STARO.dae)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/JAXON.dae JAXON)
-generate_gazebo_urdf_file(${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models/HRP4C.dae)
-add_custom_target(all_robots_compile_tutorials ALL DEPENDS ${compile_urdf_robots})
-
 ## install
 install(DIRECTORY euslisp worlds launch config environment_models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN ".svn" EXCLUDE)

hrpsys_gazebo_tutorials/config/HRP2JSKNT.yaml

@@ -39,15 +39,13 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
     - LARM_JOINT3
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
@@ -61,15 +59,13 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P

hrpsys_gazebo_tutorials/config/HRP2JSKNTS.yaml

@@ -39,15 +39,13 @@ hrpsys_gazebo_configuration:
     - RARM_JOINT4
     - RARM_JOINT5
     - RARM_JOINT6
-    - RARM_JOINT7
     - LARM_JOINT0
     - LARM_JOINT1
     - LARM_JOINT2
     - LARM_JOINT3
     - LARM_JOINT4
     - LARM_JOINT5
     - LARM_JOINT6
-    - LARM_JOINT7
 ## jointid:
   gains:
     CHEST_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0}
@@ -61,15 +59,13 @@ hrpsys_gazebo_configuration:
     LARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    LARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT3: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT4: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT5: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     RARM_JOINT6: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
-    RARM_JOINT7: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 150.0}
     LLEG_JOINT0: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 250.0} # CRTOCH-Y
     LLEG_JOINT1: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 350.0} # CRTOCH-R
     LLEG_JOINT2: {p: 700.0, d:   0.075, i: 0.0, i_clamp: 0.0, p_v: 325.0} # CRTOCH-P

hrpsys_gazebo_tutorials/robot_models/HRP2JSK/HRP2JSK.urdf.xacro

@@ -1,5 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSK" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSK/HRP2JSK.urdf" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSK_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin" >

hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT.urdf.xacro

@@ -1,7 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNT" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNT/HRP2JSKNT.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNT_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">

hrpsys_gazebo_tutorials/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf.xacro

@@ -1,7 +1,5 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="HRP2JSKNTS" >
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP2JSKNTS/HRP2JSKNTS.urdf" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_L/HRP3HAND_L.urdf.xacro" />
-  <xacro:include filename="$(find hrpsys_gazebo_tutorials)/robot_models/HRP3HAND_R/HRP3HAND_R.urdf.xacro" />
+  <xacro:include filename="$(find hrpsys_ros_bridge_tutorials)/models/HRP2JSKNTS_WH_SENSORS.urdf" />
   <!-- add IOB plugin -->
   <gazebo>
     <plugin filename="libIOBPlugin.so" name="hrpsys_gazebo_plugin">