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Add motoman resources (#378 rebased) #405

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1 change: 1 addition & 0 deletions motoman/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
<exec_depend>motoman_mh5_support</exec_depend>
<exec_depend>motoman_motomini_support</exec_depend>
<exec_depend>motoman_msgs</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>motoman_sda10f_moveit_config</exec_depend>
<exec_depend>motoman_sda10f_support</exec_depend>
<exec_depend>motoman_sia10d_support</exec_depend>
Expand Down
1 change: 1 addition & 0 deletions motoman_gp12_support/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@

<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>motoman_driver</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
Expand Down
20 changes: 8 additions & 12 deletions motoman_gp12_support/urdf/gp12_macro.xacro
Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="motoman_gp12" params="prefix">

<!-- Properties -->
<material name="yaskawa_blue">
<color rgba="0.12941 0.14902 0.74902 1" />
</material>
<xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>

<!-- link list -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_base_link.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -26,7 +22,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_1_s.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -39,7 +35,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_2_l.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -52,7 +48,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_3_u.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -65,7 +61,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_4_r.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -78,7 +74,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_5_b.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -91,7 +87,7 @@
<geometry>
<mesh filename="package://motoman_gp12_support/meshes/visual/gp12_link_6_t.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand Down
1 change: 1 addition & 0 deletions motoman_gp180_support/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@

<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>motoman_driver</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
Expand Down
20 changes: 8 additions & 12 deletions motoman_gp180_support/urdf/gp180_120_macro.xacro
Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="motoman_gp180_120" params="prefix">

<!-- Properties -->
<material name="yaskawa_blue">
<color rgba="0 0.35546875 0.671875 1" />
</material>
<xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>

<!-- link list -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/base_link.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -26,7 +22,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_1_s.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -39,7 +35,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_2_l.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -52,7 +48,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_3_u.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -65,7 +61,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_4_r.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -78,7 +74,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_5_b.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -91,7 +87,7 @@
<geometry>
<mesh filename="package://motoman_gp180_support/meshes/gp180_120/visual/link_6_t.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand Down
1 change: 1 addition & 0 deletions motoman_gp25_support/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@

<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>motoman_driver</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
Expand Down
20 changes: 8 additions & 12 deletions motoman_gp25_support/urdf/gp25_macro.xacro
Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="motoman_gp25" params="prefix">

<!-- Properties -->
<material name="yaskawa_blue">
<color rgba="0.12941 0.14902 0.74902 1" />
</material>
<xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>

<!-- link list -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/base_link.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -26,7 +22,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_1_s.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -39,7 +35,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_2_l.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -52,7 +48,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_3_u.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -65,7 +61,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_4_r.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -78,7 +74,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_5_b.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -91,7 +87,7 @@
<geometry>
<mesh filename="package://motoman_gp25_support/meshes/visual/link_6_t.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand Down
1 change: 1 addition & 0 deletions motoman_gp50_support/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@

<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>motoman_driver</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
Expand Down
20 changes: 8 additions & 12 deletions motoman_gp50_support/urdf/gp50_macro.xacro
Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="motoman_gp50" params="prefix">

<!-- Properties -->
<material name="yaskawa_blue">
<color rgba="0.12941 0.14902 0.74902 1" />
</material>
<xacro:include filename="$(find motoman_resources)/urdf/common_materials.xacro"/>

<!-- link list -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/base_link.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -26,7 +22,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_1_s.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -39,7 +35,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_2_l.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -52,7 +48,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_3_u.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -65,7 +61,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_4_r.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -78,7 +74,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_5_b.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand All @@ -91,7 +87,7 @@
<geometry>
<mesh filename="package://motoman_gp50_support/meshes/gp50/visual/link_6_t.stl"/>
</geometry>
<material name="yaskawa_blue"/>
<xacro:material_yaskawa_blue/>
</visual>
<collision>
<geometry>
Expand Down
1 change: 1 addition & 0 deletions motoman_gp7_support/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@

<exec_depend>joint_state_publisher</exec_depend>
<exec_depend>motoman_driver</exec_depend>
<exec_depend>motoman_resources</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>rviz</exec_depend>
<exec_depend>xacro</exec_depend>
Expand Down
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