Merge branch 'master' into FixIssues

code-iai · Nov 2, 2022 · d6a08f9 · d6a08f9
2 parents 8b98edc + 772c0e5
commit d6a08f9
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Showing 12 changed files with 2,829 additions and 150 deletions.
diff --git a/iai_apartment/launch/apartment_bringup.launch b/iai_apartment/launch/apartment_bringup.launch
@@ -2,8 +2,7 @@
 
   <node pkg="tf" type="static_transform_publisher" name="iai_apartment_root_link_broadcaster" args="0 0 0 0 0 0 map iai_apartment/apartment_root 25"></node>
 
-  <arg name="model" default="$(find iai_apartment)/urdf/apartment.xacro" />
-  <param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
+  <include file="$(find iai_apartment)/launch/upload_apartment.launch" />
 
   <node name="apartment_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
     <remap from="robot_description" to="apartment_description" />

diff --git a/iai_apartment/launch/upload_apartment.launch b/iai_apartment/launch/upload_apartment.launch
@@ -0,0 +1,6 @@
+<launch>
+
+  <arg name="model" default="$(find iai_apartment)/urdf/apartment.urdf" />
+  <param name="apartment_description" command="$(find xacro)/xacro '$(arg model)'" />
+
+</launch>
diff --git a/iai_kitchen/launch/kitchen_obj_bringup.launch b/iai_kitchen/launch/kitchen_obj_bringup.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <include file="$(find iai_kitchen)/launch/upload_kitchen_obj.launch" />
+
+  <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>
+
+  <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="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>
+
+</launch>
diff --git a/iai_kitchen/launch/upload_kitchen_obj.launch b/iai_kitchen/launch/upload_kitchen_obj.launch
@@ -2,34 +2,7 @@
 
 <launch>
 
-  <!-- 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="$(find iai_kitchen)/urdf_obj/iai_kitchen_python.urdf.xacro"/>
   <param name="kitchen_description" command="$(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>
-
-  <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="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>
-
 </launch>
diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -2,9 +2,9 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin">
+  <xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin include_wall_7:=true">
     <!-- LINKS -->
-    
+
     <link name="kitchen_wall_1">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -20,7 +20,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_2">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -36,7 +36,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_3">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -52,7 +52,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_4">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -68,7 +68,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_5">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -84,9 +84,9 @@
         </geometry>
       </collision>
     </link>
-    
-    
-    
+
+
+
     <link name="kitchen_wall_6">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -101,8 +101,9 @@
             <box size="1 0.15 0.7" />
         </geometry>
       </collision>
-    </link>   
+    </link>
 
+<xacro:if value="${include_wall_7 == 'true'}">
     <link name="kitchen_wall_7">
       <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -118,67 +119,69 @@
         </geometry>
       </collision>
     </link>
-
+
+  </xacro:if>
+
     <!-- JOINTS -->
-    
+
     <link name="kitchen_walls"/>
-        
+
     <joint name="walls_main_joint" type="fixed">
         <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="kitchen_walls"/>
     </joint>
-    
+
     <joint name="wall_1_joint" type="fixed">
         <origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_1"/>
     </joint>
-    <!--
+<!--
     <joint name="wall_1_joint" type="fixed">
         <origin xyz="1 0.562175 0" rpy="0 0 0" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_1"/>
     </joint>
-    -->
+-->
     <joint name="wall_2_joint" type="fixed">
         <origin xyz="2.87551 0 0" rpy="0 -0 1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_2"/>
     </joint>
-    
+
     <joint name="wall_3_joint" type="fixed">
         <origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_3"/>
     </joint>
-    
+
     <joint name="wall_4_joint" type="fixed">
         <origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_4"/>
     </joint>
-    
+
     <joint name="wall_5_joint" type="fixed">
         <origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_5"/>
     </joint>
-    
+
     <joint name="wall_6_joint" type="fixed">
       <origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
-
+<xacro:if value="${include_wall_7 == 'true'}">
     <joint name="wall_7_joint" type="fixed">
       <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_7"/>
     </joint>
-
+</xacro:if>
     <gazebo reference="kitchen_wall_6">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
   </xacro:macro>
-</robot>
+</robot>