ethz-asl · ghost · Aug 3, 2018
diff --git a/config/xsens_urdf_check.rviz b/config/xsens_urdf_check.rviz
@@ -0,0 +1,165 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        imu:
+          Value: true
+        imu_base_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          imu_base_link:
+            imu:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.512066483
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.89539814
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.60539675
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1855
+  X: 65
+  Y: 24
diff --git a/launch/xsens_urdf_check.launch b/launch/xsens_urdf_check.launch
@@ -0,0 +1,14 @@
+<launch>
+
+  <arg name="model"      default="$(find xsens_driver)/urdf/xsens_mti_example.urdf"/>
+  <arg name="gui"        default="False" />
+  <arg name="rvizconfig" default="$(find xsens_driver)/config/xsens_urdf_check.rviz" />
+
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" />
+
+</launch>
diff --git a/urdf/xsens_mti.urdf.xacro b/urdf/xsens_mti.urdf.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+
+  <xacro:macro name="imu" params="name parent *origin">
+    <joint name="${name}_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent}"/>
+      <child link="${name}_base_link"/>
+    </joint>
+
+    <link name="${name}_base_link">
+     <inertial>
+        <mass value="0.001" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
+      </inertial>
+
+         <visual>
+        <origin xyz="0 0 ${0.0077+0.023/2}" rpy="0 0 0" />
+        <geometry>
+          <box size="0.058 0.0378 0.023" />
+        </geometry>
+        <material name="${name}_orange"/>
+      </visual>
+
+
+      <visual>
+        <origin xyz="0 0 ${0.0077/2}" rpy="0 0 0" />
+        <geometry>
+          <box size="0.0587 0.0506 0.0077" />
+        </geometry>
+        <material name="${name}_silver"/>
+      </visual>
+
+      <visual>
+        <origin xyz="-${0.058/2+0.005} 0 ${0.0077+0.023/2}" rpy="0 ${M_PI/2} 0" />
+        <geometry>
+          <cylinder length="0.01" radius="0.004" />
+        </geometry>
+        <material name="${name}_silver"/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 ${0.0077/2}" rpy="0 0 0" />
+        <geometry>
+          <box size="0.0587 0.0506 0.0077" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_sensor_joint" type="fixed">
+      <origin xyz="${0.02935-0.012} ${.029-.0229} ${0.0095}" rpy="0.0 0.0 0.0" />
+      <parent link="${name}_base_link" />
+      <child link="${name}"/>
+    </joint>
+
+    <link name="${name}"/>
+
+    <material name="${name}_silver">
+          <color rgba="0.753 0.753 0.753 1"/>
+    </material>
+
+    <material name="${name}_orange">
+          <color rgba="1.0 0.647 0.0 1"/>
+    </material>
+
+
+  </xacro:macro>
+
+</robot>
diff --git a/urdf/xsens_mti_example.urdf b/urdf/xsens_mti_example.urdf
@@ -0,0 +1,14 @@
+<robot
+  name="xsens_test" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:property name="M_PI" value="3.1415926535897931" />
+  <link
+    name="base_link">
+
+  </link>
+
+  <xacro:include filename="$(find seabed_drivers)/urdf/xsens_mti.urdf.xacro"/>
+  <imu parent="base_link" name="imu">
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+  </imu> 
+
+</robot>