[rtm-ros-robotics] r6956 committed - for catkin, remove rospack commands

[rtm-ros-...@googlecode.com]

Revision: 6956
Author: gara...@gmail.com
Date: Fri Feb 7 13:10:23 2014 UTC
Log: for catkin, remove rospack commands
http://code.google.com/p/rtm-ros-robotics/source/detail?r=6956

Modified:
/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/catkin.cmake

/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh

/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/install_robot_common.sh

=======================================
--- /trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/catkin.cmake Fri Feb 7
10:32:32 2014 UTC
+++ /trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/catkin.cmake Fri Feb 7
13:10:23 2014 UTC
@@ -26,7 +26,7 @@
add_custom_command(OUTPUT ${_out_dir}/hrpsys
COMMAND mkdir ${_out_dir}/hrpsys)
add_custom_command(OUTPUT ${_out_urdf_file}
- COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh
${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models
${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name}
${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf
+ COMMAND ${PROJECT_SOURCE_DIR}/robot_models/install_robot_common.sh
${_robot_name} ${hrpsys_ros_bridge_tutorials_SOURCE_DIR}/models
${hrpsys_gazebo_tutorials_SOURCE_DIR}/robot_models/${_robot_name}
${collada_tools_PREFIX}/lib/collada_tools/collada_to_urdf
${PROJECT_SOURCE_DIR}/..
DEPENDS ${_out_dir}/hrpsys ${_out_dir}/meshes)
add_custom_target(${_robot_name}_compile DEPENDS ${_out_urdf_file})
set(ROBOT ${_robot_name})
=======================================
---
/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
Fri Feb 7 06:11:55 2014 UTC
+++
/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/HRP2JSKNT/HRP2JSKNT_optional_urdf_setting.sh
Fri Feb 7 13:10:23 2014 UTC
@@ -6,7 +6,8 @@
trap error ERR

OUTPUT_FILE=$1
-
+ADDITIONAL_ROS_PACKAGE_PATH=$2
+export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$ADDITIONAL_ROS_PACKAGE_PATH
## add Plugin settings
##
sed -i -e 's@</robot>@ <gazebo>\n <plugin filename="libIOBPlugin.so"
name="hrpsys_gazebo_plugin" >\n
<robotname>HRP2JSKNT</robotname>\n
<controller>hrpsys_gazebo_configuration</controller>\n </plugin>\n
</gazebo>\n</robot>@g' ${OUTPUT_FILE}
@@ -34,25 +35,23 @@
## delete toe link collision
sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n <origin xyz="0.115
0 -0.074" rpy="0 -0 0"/>\n <geometry>\n <mesh
filename="package://HRP2JSKNT/meshes/LLEG_LINK6_mesh.dae" scale="1 1 1"
/>\n </geometry>\n </collision>@@;}' ${OUTPUT_FILE}
sed -i -e '/<collision>/{N;N;N;N;N;s@<collision>\n <origin xyz="0.115
0 -0.074" rpy="0 -0 0"/>\n <geometry>\n <mesh
filename="package://HRP2JSKNT/meshes/RLEG_LINK6_mesh.dae" scale="1 1 1"
/>\n </geometry>\n </collision>@@;}' ${OUTPUT_FILE}
-
# remove LARM_LINK6
L_START=`grep -n "<link name=\"LARM_LINK6\"" -m 1 ${OUTPUT_FILE} -m 1 |
cut -f1 -d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1
| cut -f1 -d:)
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1
| cut -f1 -d:) ##
L_END=`expr ${L_START} + ${L_END} - 1`
sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-
# remove RARM_LINK6
L_START=`grep -n "<link name=\"RARM_LINK6\"" ${OUTPUT_FILE} -m 1 | cut -f1
-d:`
-L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1
| cut -f1 -d:)
+
+L_END=$(sed -n "${L_START},\$p" ${OUTPUT_FILE} | grep -n "<\/gazebo>" -m 1
| cut -f1 -d:) ##
L_END=`expr ${L_START} + ${L_END} - 1`
sed -i -e "${L_START},${L_END}d" ${OUTPUT_FILE}
-
# continuous joint not working in GAZEBO
sed -i -e 's@continuous@revolute@g' ${OUTPUT_FILE}
-
# overwrite velocity limit because collada2urdf doesn't reflect the
velocity limit of collada model.
sed -i -e 's@velocity="0.5"@velocity="1000.0"@g' ${OUTPUT_FILE}
sed -i -e 's@effort="100"@effort="1000"@g' ${OUTPUT_FILE}
+

# generate URDF with xacro
cp ${OUTPUT_FILE} `echo ${OUTPUT_FILE} | sed "s/.urdf/_only_body.urdf/g"`
=======================================
---
/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/install_robot_common.sh
Fri Feb 7 06:14:20 2014 UTC
+++
/trunk/rtmros_gazebo/hrpsys_gazebo_tutorials/robot_models/install_robot_common.sh
Fri Feb 7 13:10:23 2014 UTC
@@ -28,6 +28,12 @@
COLLADA_TO_URDF=`rospack find collada_tools`/bin/collada_to_urdf
fi

+if [ $# -gt 4 ]; then
+ ADDITIONAL_ROS_PACKAGE_PATH=$5
+else
+ ADDITIONAL_ROS_PACKAGE_PATH=
+fi
+
OUTPUT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}.urdf
SED_SCRIPT_FILE=${OUTPUT_DIR}/${ROBOT_NAME}_optional_urdf_setting.sh

@@ -45,7 +51,7 @@
# rosrun collada_urdf collada_to_urdf ${INPUT_DIR}/${ROBOT_NAME}.dae
-G -A --mesh_output_dir ${OUTPUT_DIR}/meshes
--mesh_prefix "package://${ROBOT_NAME}/meshes" --output_file=${OUTPUT_FILE}
# fi
## execute sed
- ${SED_SCRIPT_FILE} ${OUTPUT_FILE}
+ ${SED_SCRIPT_FILE} ${OUTPUT_FILE} ${ADDITIONAL_ROS_PACKAGE_PATH}
fi

if [ ! -e ${OUTPUT_DIR}/hrpsys ]; then