Commits on Dec 15, 2015

1. Integrates Ridgeback URDF with Baxter's Xacro URDF …

   - Adds a ridgeback_baxter_world.launch to demonstrate how to launch
     the Ridgeback with Baxter in Gazebo (this needs some Ridgeback tweaks)
   - Adds a pedestal stand segment and DAE's for combining the two platforms
   - Makes Baxter's Torso the parent of the Ridgeback for integrating with
     Baxter's onboard mutable robot state publisher
   - Makes Baxter model optional to allow for publishing the
     Ridgeback-Pedestal combo as a URDF fragment for the real Baxter:
     $ rosrun xacro xacro.py --inorder
       `rospack find ridgeback_baxter_description`/urdf/ridgeback_baxter.urdf.xacro
        with_baxter:=false  > ridgeback_baxter.xml
     # After making ridgeback_baxter.yaml with the following values:
     # time: current time
     # link: 'torso'
     # joint: 'pedestal_fixed'
     # urdf: xml from ridgeback_baxter.xml
     $ rostopic pub /robot/urdf baxter_core_msgs/URDFConfiguration -f ridgeback_baxter.yaml -l
     # The real robot will replace its pedestal with the URDF fragment that you just created
     # (you will likely then want to publish your wheel joint states to /robot/joint_states)
   - Enjoy the marvels of your new mobile Baxter!

   

   IanTheEngineer committed Dec 15, 2015
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