├── base_robot.png
├── .vscode
    └── settings.json
├── README.md
├── fb_description
    ├── urdf
    │   ├── fb.gazebo
    │   ├── materials.xacro
    │   └── fb.xacro
    ├── package.xml
    └── CMakeLists.txt
└── fb_gazebo
    ├── fb.launch
    ├── package.xml
    └── CMakeLists.txt


/base_robot.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/OpenPi-bot/robot-simulation/HEAD/base_robot.png


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/.vscode/settings.json:
--------------------------------------------------------------------------------
1 | {
2 |     "python.autoComplete.extraPaths": [
3 |         "/home/manan/catkin_ws/devel/lib/python2.7/dist-packages",
4 |         "/opt/ros/melodic/lib/python2.7/dist-packages"
5 |     ]
6 | }


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | ## Basic Robot
 2 | 1. These file contain the code for the base robot , without sensors!
 3 | 
 4 | ![Base Robot](base_robot.png)
 5 | 
 6 | ## To run the file
 7 | 
 8 | 1. First clone the repo in your workspace(catkin_ws)
 9 | 
10 | 2. Checkout the base branch using:
11 |  
12 | ```
13 | git checkout base
14 | ```
15 | 3. Then build the packages , using catkin_make
16 | 
17 | 4. Then launch the file 
18 | 
19 | ```
20 | roslaunch fb_gazebo fb.launch
21 | ```


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/fb_description/urdf/fb.gazebo:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot>
 3 |  <gazebo reference="chassis">
 4 |       <material>Gazebo/Blue</material>
 5 |     </gazebo>
 6 | <gazebo reference="left_wheel">
 7 |       <material>Gazebo/Grey</material>
 8 |     </gazebo>
 9 | <gazebo reference="right_wheel">
10 |       <material>Gazebo/Grey</material>
11 |     </gazebo>
12 | <gazebo reference="right_wheel_front">
13 |       <material>Gazebo/Grey</material>
14 |     </gazebo>
15 | <gazebo reference="left_wheel_front">
16 |       <material>Gazebo/Grey</material>
17 |     </gazebo>
18 | </robot>


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/fb_description/urdf/materials.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot>
 3 | 
 4 |   <material name="black">
 5 |     <color rgba="0.0 0.0 0.0 1.0"/>
 6 |   </material>
 7 | 
 8 |   <material name="blue">
 9 |     <color rgba="0.0 0.0 0.8 1.0"/>
10 |   </material>
11 | 
12 |   <material name="green">
13 |     <color rgba="0.0 0.8 0.0 1.0"/>
14 |   </material>
15 | 
16 |   <material name="grey">
17 |     <color rgba="0.2 0.2 0.2 1.0"/>
18 |   </material>
19 | 
20 |   <material name="orange">
21 |     <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
22 |   </material>
23 | 
24 |   <material name="brown">
25 |     <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
26 |   </material>
27 | 
28 |   <material name="red">
29 |     <color rgba="0.8 0.0 0.0 1.0"/>
30 |   </material>
31 | 
32 |   <material name="white">
33 |     <color rgba="1.0 1.0 1.0 1.0"/>
34 |   </material>
35 | 
36 | </robot>
37 | 


--------------------------------------------------------------------------------
/fb_gazebo/fb.launch:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0" encoding="UTF-8"?>
 2 | <launch>
 3 | 
 4 |   <arg name="world" default="empty"/> 
 5 |   <arg name="paused" default="false"/>
 6 |   <arg name="use_sim_time" default="true"/>
 7 |   <arg name="gui" default="true"/>
 8 |   <arg name="headless" default="false"/>
 9 |   <arg name="debug" default="false"/>
10 |   
11 |   <include file="$(find gazebo_ros)/launch/empty_world.launch">
12 |     <!--arg name="world_name" value="$(find mybot_gazebo)/worlds/mybot.world"/-->
13 |     <arg name="paused" value="$(arg paused)"/>
14 |     <arg name="use_sim_time" value="$(arg use_sim_time)"/>
15 |     <arg name="gui" value="$(arg gui)"/>
16 |     <arg name="headless" value="$(arg headless)"/>
17 |     <arg name="debug" value="$(arg debug)"/>
18 |   </include>
19 | 
20 |   
21 |   <param name="robot_description" command="$(find xacro)/xacro.py '$(find fb_description)/urdf/fb.xacro'"/>
22 | 
23 |   <node name="fb_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
24 |    args="-urdf -param robot_description -model mybot" />
25 | 
26 | </launch>


--------------------------------------------------------------------------------
/fb_gazebo/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>fb_gazebo</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The fb_gazebo package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="manan@todo.todo">manan</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/fb_gazebo</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 | 
53 | 
54 |   <!-- The export tag contains other, unspecified, tags -->
55 |   <export>
56 |     <!-- Other tools can request additional information be placed here -->
57 | 
58 |   </export>
59 | </package>
60 | 


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/fb_description/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <package format="2">
 3 |   <name>fb_description</name>
 4 |   <version>0.0.0</version>
 5 |   <description>The fb_description package</description>
 6 | 
 7 |   <!-- One maintainer tag required, multiple allowed, one person per tag -->
 8 |   <!-- Example:  -->
 9 |   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
10 |   <maintainer email="manan@todo.todo">manan</maintainer>
11 | 
12 | 
13 |   <!-- One license tag required, multiple allowed, one license per tag -->
14 |   <!-- Commonly used license strings: -->
15 |   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
16 |   <license>TODO</license>
17 | 
18 | 
19 |   <!-- Url tags are optional, but multiple are allowed, one per tag -->
20 |   <!-- Optional attribute type can be: website, bugtracker, or repository -->
21 |   <!-- Example: -->
22 |   <!-- <url type="website">http://wiki.ros.org/fb_description</url> -->
23 | 
24 | 
25 |   <!-- Author tags are optional, multiple are allowed, one per tag -->
26 |   <!-- Authors do not have to be maintainers, but could be -->
27 |   <!-- Example: -->
28 |   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
29 | 
30 | 
31 |   <!-- The *depend tags are used to specify dependencies -->
32 |   <!-- Dependencies can be catkin packages or system dependencies -->
33 |   <!-- Examples: -->
34 |   <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
35 |   <!--   <depend>roscpp</depend> -->
36 |   <!--   Note that this is equivalent to the following: -->
37 |   <!--   <build_depend>roscpp</build_depend> -->
38 |   <!--   <exec_depend>roscpp</exec_depend> -->
39 |   <!-- Use build_depend for packages you need at compile time: -->
40 |   <!--   <build_depend>message_generation</build_depend> -->
41 |   <!-- Use build_export_depend for packages you need in order to build against this package: -->
42 |   <!--   <build_export_depend>message_generation</build_export_depend> -->
43 |   <!-- Use buildtool_depend for build tool packages: -->
44 |   <!--   <buildtool_depend>catkin</buildtool_depend> -->
45 |   <!-- Use exec_depend for packages you need at runtime: -->
46 |   <!--   <exec_depend>message_runtime</exec_depend> -->
47 |   <!-- Use test_depend for packages you need only for testing: -->
48 |   <!--   <test_depend>gtest</test_depend> -->
49 |   <!-- Use doc_depend for packages you need only for building documentation: -->
50 |   <!--   <doc_depend>doxygen</doc_depend> -->
51 |   <buildtool_depend>catkin</buildtool_depend>
52 | 
53 | 
54 |   <!-- The export tag contains other, unspecified, tags -->
55 |   <export>
56 |     <!-- Other tools can request additional information be placed here -->
57 | 
58 |   </export>
59 | </package>
60 | 


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/fb_description/urdf/fb.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version='1.0'?>
  2 | 
  3 | <robot name="fbrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4 | 
  5 | 
  6 | 
  7 |   <xacro:include filename="$(find fb_description)/urdf/fb.gazebo" />
  8 |   <xacro:include filename="$(find fb_description)/urdf/materials.xacro" />
  9 |   <!--xacro:include filename="$(find mybot_description)/urdf/macros.xacro" /-->
 10 | 
 11 | 
 12 |   <link name='chassis'>
 13 |     <pose>0 0 0.1 0 0 0</pose>
 14 | 
 15 |     <inertial>
 16 |       <mass value="10.0"/>
 17 |       <origin xyz="0.0 0 0.1" rpy=" 0 0 0"/>
 18 |       <inertia
 19 |           ixx="0.5" ixy="0" ixz="0"
 20 |           iyy="1.0" iyz="0"
 21 |           izz="0.1"
 22 |       />
 23 |     </inertial>
 24 | 
 25 |     <collision name='collision'>
 26 |       <geometry>
 27 |         <box size=".4 .2 .1"/>
 28 |       </geometry>
 29 |     </collision>
 30 | 
 31 |     <visual name='chassis_visual'>
 32 |       <origin xyz="0 0 0" rpy=" 0 0 0"/>
 33 |       <geometry>
 34 |         <box size=".4 .2 .1"/>
 35 |       </geometry>
 36 |     </visual>
 37 | 
 38 | 
 39 |     
 40 |     
 41 |   </link>
 42 | 
 43 | 
 44 |   <link name="left_wheel">
 45 |     <!--origin xyz="0.1 0.13 0.1" rpy="0 1.5707 1.5707"/-->
 46 |     <collision name="collision">
 47 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 48 |       <geometry>
 49 |         <cylinder radius="0.1" length="0.05"/>
 50 |       </geometry>
 51 |     </collision>
 52 |     <visual name="left_wheel_visual">
 53 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 54 |       <geometry>
 55 |         <cylinder radius="0.1" length="0.05"/>
 56 |       </geometry>
 57 |     </visual>
 58 |     <inertial>
 59 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 60 |       <mass value="5"/>
 61 |       <cylinder_inertia m="5" r="0.1" h="0.05"/>
 62 |       <inertia
 63 |         ixx="1.0" ixy="0.0" ixz="0.0"
 64 |         iyy="1.0" iyz="0.0"
 65 |         izz="1.0"/>
 66 |     </inertial>
 67 |   </link>
 68 | 
 69 |   <link name="right_wheel">
 70 |     <!--origin xyz="0.1 -0.13 0.1" rpy="0 1.5707 1.5707"/-->
 71 |     <collision name="collision">
 72 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 73 |       <geometry>
 74 |         <cylinder radius="0.1" length="0.05"/>
 75 |       </geometry>
 76 |     </collision>
 77 |     <visual name="right_wheel_visual">
 78 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 79 |       <geometry>
 80 |         <cylinder radius="0.1" length="0.05"/>
 81 |       </geometry>
 82 |     </visual>
 83 |     <inertial>
 84 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 85 |       <mass value="5"/>
 86 |       <cylinder_inertia m="5" r="0.1" h="0.05"/>
 87 |       <inertia
 88 |         ixx="1.0" ixy="0.0" ixz="0.0"
 89 |         iyy="1.0" iyz="0.0"
 90 |         izz="1.0"/>
 91 |     </inertial>
 92 |   </link>
 93 |  <link name="left_wheel_front">
 94 |     <!--origin xyz="0.1 -0.13 0.1" rpy="0 1.5707 1.5707"/-->
 95 |     <collision name="collision">
 96 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
 97 |       <geometry>
 98 |         <cylinder radius="0.1" length="0.05"/>
 99 |       </geometry>
100 |     </collision>
101 |     <visual name="left_wheel_front_visual">
102 |       <origin xyz="0.0 0.0 0" rpy="0 1.5707 1.5707"/>
103 |       <geometry>
104 |         <cylinder radius="0.1" length="0.05"/>
105 |       </geometry>
106 |     </visual>
107 |     <inertial>
108 |       <origin xyz="0.0 0.0 0" rpy="0 1.5707 1.5707"/>
109 |       <mass value="5"/>
110 |       <cylinder_inertia m="5" r="0.1" h="0.05"/>
111 |       <inertia
112 |         ixx="1.0" ixy="0.0" ixz="0.0"
113 |         iyy="1.0" iyz="0.0"
114 |         izz="1.0"/>
115 |     </inertial>
116 |   </link>
117 |                                 
118 | <link name="right_wheel_front">
119 |     <!--origin xyz="0.1 -0.13 0.1" rpy="0 1.5707 1.5707"/-->
120 |     <collision name="collision">
121 |       <origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
122 |       <geometry>
123 |         <cylinder radius="0.1" length="0.05"/>
124 |       </geometry>
125 |     </collision>
126 |     <visual name="right_wheel_front_visual">
127 |       <origin xyz="0.0 0.0 0" rpy="0 1.5707 1.5707"/>
128 |       <geometry>
129 |         <cylinder radius="0.1" length="0.05"/>
130 |       </geometry>
131 |     </visual>
132 |     <inertial>
133 |       <origin xyz="0.0 0.0 0" rpy="0 1.5707 1.5707"/>
134 |       <mass value="5"/>
135 |       <cylinder_inertia m="5" r="0.1" h="0.05"/>
136 |       <inertia
137 |         ixx="1.0" ixy="0.0" ixz="0.0"
138 |         iyy="1.0" iyz="0.0"
139 |         izz="1.0"/>
140 |     </inertial>
141 |   </link>
142 |                                 
143 | 
144 | 
145 |   <joint type="continuous" name="left_wheel_hinge">
146 |     <origin xyz="0.2 0.15 0" rpy="0 0 0"/>
147 |     <child link="left_wheel"/>
148 |     <parent link="chassis"/>
149 |     <axis xyz="0 1 0" rpy="0 0 0"/>
150 |     <limit effort="100" velocity="100"/>
151 |     <joint_properties damping="0.0" friction="0.0"/>
152 |   </joint>
153 | 
154 |   <joint type="continuous" name="right_wheel_hinge">
155 |     <origin xyz="0.2 -0.15 0" rpy="0 0 0"/>
156 |     <child link="right_wheel"/>
157 |     <parent link="chassis"/>
158 |     <axis xyz="0 1 0" rpy="0 0 0"/>
159 |     <limit effort="100" velocity="100"/>
160 |     <joint_properties damping="0.0" friction="0.0"/>
161 |   </joint>
162 |   
163 | 
164 | 
165 |   <joint type="continuous" name="right_wheel_front_hinge">
166 |     <origin xyz="-0.2 -0.15 0" rpy="0 0 0"/>
167 |     <child link="right_wheel_front"/>
168 |     <parent link="chassis"/>
169 |     <axis xyz="0 1 0" rpy="0 0 0"/>
170 |     <limit effort="100" velocity="100"/>
171 |     <joint_properties damping="0.0" friction="0.0"/>
172 |   </joint>
173 |   
174 |  <joint type="continuous" name="left_wheel_front_hinge">
175 |     <origin xyz="-0.2 0.15 0" rpy="0 0 0"/>
176 |     <child link="left_wheel_front"/>
177 |     <parent link="chassis"/>
178 |     <axis xyz="0 1 0" rpy="0 0 0"/>
179 |     <limit effort="100" velocity="100"/>
180 |     <joint_properties damping="0.0" friction="0.0"/>
181 |   </joint>
182 |   
183 | 
184 | 
185 | </robot>
186 | 


--------------------------------------------------------------------------------
/fb_gazebo/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 3.0.2)
  2 | project(fb_gazebo)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED)
 11 | 
 12 | ## System dependencies are found with CMake's conventions
 13 | # find_package(Boost REQUIRED COMPONENTS system)
 14 | 
 15 | 
 16 | ## Uncomment this if the package has a setup.py. This macro ensures
 17 | ## modules and global scripts declared therein get installed
 18 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 19 | # catkin_python_setup()
 20 | 
 21 | ################################################
 22 | ## Declare ROS messages, services and actions ##
 23 | ################################################
 24 | 
 25 | ## To declare and build messages, services or actions from within this
 26 | ## package, follow these steps:
 27 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 28 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 29 | ## * In the file package.xml:
 30 | ##   * add a build_depend tag for "message_generation"
 31 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 32 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 33 | ##     but can be declared for certainty nonetheless:
 34 | ##     * add a exec_depend tag for "message_runtime"
 35 | ## * In this file (CMakeLists.txt):
 36 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 37 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 38 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 39 | ##     catkin_package(CATKIN_DEPENDS ...)
 40 | ##   * uncomment the add_*_files sections below as needed
 41 | ##     and list every .msg/.srv/.action file to be processed
 42 | ##   * uncomment the generate_messages entry below
 43 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 44 | 
 45 | ## Generate messages in the 'msg' folder
 46 | # add_message_files(
 47 | #   FILES
 48 | #   Message1.msg
 49 | #   Message2.msg
 50 | # )
 51 | 
 52 | ## Generate services in the 'srv' folder
 53 | # add_service_files(
 54 | #   FILES
 55 | #   Service1.srv
 56 | #   Service2.srv
 57 | # )
 58 | 
 59 | ## Generate actions in the 'action' folder
 60 | # add_action_files(
 61 | #   FILES
 62 | #   Action1.action
 63 | #   Action2.action
 64 | # )
 65 | 
 66 | ## Generate added messages and services with any dependencies listed here
 67 | # generate_messages(
 68 | #   DEPENDENCIES
 69 | #   std_msgs  # Or other packages containing msgs
 70 | # )
 71 | 
 72 | ################################################
 73 | ## Declare ROS dynamic reconfigure parameters ##
 74 | ################################################
 75 | 
 76 | ## To declare and build dynamic reconfigure parameters within this
 77 | ## package, follow these steps:
 78 | ## * In the file package.xml:
 79 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 80 | ## * In this file (CMakeLists.txt):
 81 | ##   * add "dynamic_reconfigure" to
 82 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 83 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 84 | ##     and list every .cfg file to be processed
 85 | 
 86 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 87 | # generate_dynamic_reconfigure_options(
 88 | #   cfg/DynReconf1.cfg
 89 | #   cfg/DynReconf2.cfg
 90 | # )
 91 | 
 92 | ###################################
 93 | ## catkin specific configuration ##
 94 | ###################################
 95 | ## The catkin_package macro generates cmake config files for your package
 96 | ## Declare things to be passed to dependent projects
 97 | ## INCLUDE_DIRS: uncomment this if your package contains header files
 98 | ## LIBRARIES: libraries you create in this project that dependent projects also need
 99 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
100 | ## DEPENDS: system dependencies of this project that dependent projects also need
101 | catkin_package(
102 | #  INCLUDE_DIRS include
103 | #  LIBRARIES fb_gazebo
104 | #  CATKIN_DEPENDS other_catkin_pkg
105 | #  DEPENDS system_lib
106 | )
107 | 
108 | ###########
109 | ## Build ##
110 | ###########
111 | 
112 | ## Specify additional locations of header files
113 | ## Your package locations should be listed before other locations
114 | include_directories(
115 | # include
116 | # ${catkin_INCLUDE_DIRS}
117 | )
118 | 
119 | ## Declare a C++ library
120 | # add_library(${PROJECT_NAME}
121 | #   src/${PROJECT_NAME}/fb_gazebo.cpp
122 | # )
123 | 
124 | ## Add cmake target dependencies of the library
125 | ## as an example, code may need to be generated before libraries
126 | ## either from message generation or dynamic reconfigure
127 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
128 | 
129 | ## Declare a C++ executable
130 | ## With catkin_make all packages are built within a single CMake context
131 | ## The recommended prefix ensures that target names across packages don't collide
132 | # add_executable(${PROJECT_NAME}_node src/fb_gazebo_node.cpp)
133 | 
134 | ## Rename C++ executable without prefix
135 | ## The above recommended prefix causes long target names, the following renames the
136 | ## target back to the shorter version for ease of user use
137 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
138 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
139 | 
140 | ## Add cmake target dependencies of the executable
141 | ## same as for the library above
142 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
143 | 
144 | ## Specify libraries to link a library or executable target against
145 | # target_link_libraries(${PROJECT_NAME}_node
146 | #   ${catkin_LIBRARIES}
147 | # )
148 | 
149 | #############
150 | ## Install ##
151 | #############
152 | 
153 | # all install targets should use catkin DESTINATION variables
154 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
155 | 
156 | ## Mark executable scripts (Python etc.) for installation
157 | ## in contrast to setup.py, you can choose the destination
158 | # catkin_install_python(PROGRAMS
159 | #   scripts/my_python_script
160 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
161 | # )
162 | 
163 | ## Mark executables for installation
164 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
165 | # install(TARGETS ${PROJECT_NAME}_node
166 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
167 | # )
168 | 
169 | ## Mark libraries for installation
170 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
171 | # install(TARGETS ${PROJECT_NAME}
172 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
173 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 | #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
175 | # )
176 | 
177 | ## Mark cpp header files for installation
178 | # install(DIRECTORY include/${PROJECT_NAME}/
179 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
180 | #   FILES_MATCHING PATTERN "*.h"
181 | #   PATTERN ".svn" EXCLUDE
182 | # )
183 | 
184 | ## Mark other files for installation (e.g. launch and bag files, etc.)
185 | # install(FILES
186 | #   # myfile1
187 | #   # myfile2
188 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
189 | # )
190 | 
191 | #############
192 | ## Testing ##
193 | #############
194 | 
195 | ## Add gtest based cpp test target and link libraries
196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_fb_gazebo.cpp)
197 | # if(TARGET ${PROJECT_NAME}-test)
198 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
199 | # endif()
200 | 
201 | ## Add folders to be run by python nosetests
202 | # catkin_add_nosetests(test)
203 | 


--------------------------------------------------------------------------------
/fb_description/CMakeLists.txt:
--------------------------------------------------------------------------------
  1 | cmake_minimum_required(VERSION 3.0.2)
  2 | project(fb_description)
  3 | 
  4 | ## Compile as C++11, supported in ROS Kinetic and newer
  5 | # add_compile_options(-std=c++11)
  6 | 
  7 | ## Find catkin macros and libraries
  8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  9 | ## is used, also find other catkin packages
 10 | find_package(catkin REQUIRED)
 11 | 
 12 | ## System dependencies are found with CMake's conventions
 13 | # find_package(Boost REQUIRED COMPONENTS system)
 14 | 
 15 | 
 16 | ## Uncomment this if the package has a setup.py. This macro ensures
 17 | ## modules and global scripts declared therein get installed
 18 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 19 | # catkin_python_setup()
 20 | 
 21 | ################################################
 22 | ## Declare ROS messages, services and actions ##
 23 | ################################################
 24 | 
 25 | ## To declare and build messages, services or actions from within this
 26 | ## package, follow these steps:
 27 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
 28 | ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 29 | ## * In the file package.xml:
 30 | ##   * add a build_depend tag for "message_generation"
 31 | ##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
 32 | ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 33 | ##     but can be declared for certainty nonetheless:
 34 | ##     * add a exec_depend tag for "message_runtime"
 35 | ## * In this file (CMakeLists.txt):
 36 | ##   * add "message_generation" and every package in MSG_DEP_SET to
 37 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 38 | ##   * add "message_runtime" and every package in MSG_DEP_SET to
 39 | ##     catkin_package(CATKIN_DEPENDS ...)
 40 | ##   * uncomment the add_*_files sections below as needed
 41 | ##     and list every .msg/.srv/.action file to be processed
 42 | ##   * uncomment the generate_messages entry below
 43 | ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 44 | 
 45 | ## Generate messages in the 'msg' folder
 46 | # add_message_files(
 47 | #   FILES
 48 | #   Message1.msg
 49 | #   Message2.msg
 50 | # )
 51 | 
 52 | ## Generate services in the 'srv' folder
 53 | # add_service_files(
 54 | #   FILES
 55 | #   Service1.srv
 56 | #   Service2.srv
 57 | # )
 58 | 
 59 | ## Generate actions in the 'action' folder
 60 | # add_action_files(
 61 | #   FILES
 62 | #   Action1.action
 63 | #   Action2.action
 64 | # )
 65 | 
 66 | ## Generate added messages and services with any dependencies listed here
 67 | # generate_messages(
 68 | #   DEPENDENCIES
 69 | #   std_msgs  # Or other packages containing msgs
 70 | # )
 71 | 
 72 | ################################################
 73 | ## Declare ROS dynamic reconfigure parameters ##
 74 | ################################################
 75 | 
 76 | ## To declare and build dynamic reconfigure parameters within this
 77 | ## package, follow these steps:
 78 | ## * In the file package.xml:
 79 | ##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
 80 | ## * In this file (CMakeLists.txt):
 81 | ##   * add "dynamic_reconfigure" to
 82 | ##     find_package(catkin REQUIRED COMPONENTS ...)
 83 | ##   * uncomment the "generate_dynamic_reconfigure_options" section below
 84 | ##     and list every .cfg file to be processed
 85 | 
 86 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
 87 | # generate_dynamic_reconfigure_options(
 88 | #   cfg/DynReconf1.cfg
 89 | #   cfg/DynReconf2.cfg
 90 | # )
 91 | 
 92 | ###################################
 93 | ## catkin specific configuration ##
 94 | ###################################
 95 | ## The catkin_package macro generates cmake config files for your package
 96 | ## Declare things to be passed to dependent projects
 97 | ## INCLUDE_DIRS: uncomment this if your package contains header files
 98 | ## LIBRARIES: libraries you create in this project that dependent projects also need
 99 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
100 | ## DEPENDS: system dependencies of this project that dependent projects also need
101 | catkin_package(
102 | #  INCLUDE_DIRS include
103 | #  LIBRARIES fb_description
104 | #  CATKIN_DEPENDS other_catkin_pkg
105 | #  DEPENDS system_lib
106 | )
107 | 
108 | ###########
109 | ## Build ##
110 | ###########
111 | 
112 | ## Specify additional locations of header files
113 | ## Your package locations should be listed before other locations
114 | include_directories(
115 | # include
116 | # ${catkin_INCLUDE_DIRS}
117 | )
118 | 
119 | ## Declare a C++ library
120 | # add_library(${PROJECT_NAME}
121 | #   src/${PROJECT_NAME}/fb_description.cpp
122 | # )
123 | 
124 | ## Add cmake target dependencies of the library
125 | ## as an example, code may need to be generated before libraries
126 | ## either from message generation or dynamic reconfigure
127 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
128 | 
129 | ## Declare a C++ executable
130 | ## With catkin_make all packages are built within a single CMake context
131 | ## The recommended prefix ensures that target names across packages don't collide
132 | # add_executable(${PROJECT_NAME}_node src/fb_description_node.cpp)
133 | 
134 | ## Rename C++ executable without prefix
135 | ## The above recommended prefix causes long target names, the following renames the
136 | ## target back to the shorter version for ease of user use
137 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
138 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
139 | 
140 | ## Add cmake target dependencies of the executable
141 | ## same as for the library above
142 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
143 | 
144 | ## Specify libraries to link a library or executable target against
145 | # target_link_libraries(${PROJECT_NAME}_node
146 | #   ${catkin_LIBRARIES}
147 | # )
148 | 
149 | #############
150 | ## Install ##
151 | #############
152 | 
153 | # all install targets should use catkin DESTINATION variables
154 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
155 | 
156 | ## Mark executable scripts (Python etc.) for installation
157 | ## in contrast to setup.py, you can choose the destination
158 | # catkin_install_python(PROGRAMS
159 | #   scripts/my_python_script
160 | #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
161 | # )
162 | 
163 | ## Mark executables for installation
164 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
165 | # install(TARGETS ${PROJECT_NAME}_node
166 | #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
167 | # )
168 | 
169 | ## Mark libraries for installation
170 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
171 | # install(TARGETS ${PROJECT_NAME}
172 | #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
173 | #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
174 | #   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
175 | # )
176 | 
177 | ## Mark cpp header files for installation
178 | # install(DIRECTORY include/${PROJECT_NAME}/
179 | #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
180 | #   FILES_MATCHING PATTERN "*.h"
181 | #   PATTERN ".svn" EXCLUDE
182 | # )
183 | 
184 | ## Mark other files for installation (e.g. launch and bag files, etc.)
185 | # install(FILES
186 | #   # myfile1
187 | #   # myfile2
188 | #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
189 | # )
190 | 
191 | #############
192 | ## Testing ##
193 | #############
194 | 
195 | ## Add gtest based cpp test target and link libraries
196 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_fb_description.cpp)
197 | # if(TARGET ${PROJECT_NAME}-test)
198 | #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
199 | # endif()
200 | 
201 | ## Add folders to be run by python nosetests
202 | # catkin_add_nosetests(test)
203 | 


--------------------------------------------------------------------------------