├── microtrac_base ├── README.md ├── CMakeLists.txt ├── package.xml └── LICENSE ├── microtrac_navigation ├── README.md ├── CMakeLists.txt ├── package.xml └── LICENSE ├── microtrac_control ├── README.md ├── CMakeLists.txt ├── package.xml └── LICENSE ├── microtrac_description ├── config │ ├── microtrac_rviz.png │ └── microtrac.rviz ├── README.md ├── package.xml ├── urdf │ ├── microtrac.urdf.xacro │ └── microtrac_base.urdf.xacro ├── LICENSE ├── CMakeLists.txt ├── launch │ └── test_microtrac_urdf.launch └── meshes │ ├── large_piston_lower.dae │ ├── large_piston_upper.dae │ └── small_piston_lower.dae ├── microtrac_robot ├── CMakeLists.txt ├── README.md ├── package.xml └── LICENSE ├── README.md └── LICENSE /microtrac_base/README.md: -------------------------------------------------------------------------------- 1 | # microtrac_base 2 | Placeholder package for microcontroller integration, drivers, and sensor data code 3 | 4 | -------------------------------------------------------------------------------- /microtrac_navigation/README.md: -------------------------------------------------------------------------------- 1 | # microtrac_navigation 2 | Placeholder package for MicroTrac integration with ROS Navigation's move_base 3 | 4 | -------------------------------------------------------------------------------- /microtrac_control/README.md: -------------------------------------------------------------------------------- 1 | # microtrac_control 2 | Placeholder package for MicroTrac integration with control loops, or ROS Controls controllers 3 | 4 | -------------------------------------------------------------------------------- /microtrac_description/config/microtrac_rviz.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ros-agriculture/microtrac/HEAD/microtrac_description/config/microtrac_rviz.png -------------------------------------------------------------------------------- /microtrac_base/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(microtrac_base) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | -------------------------------------------------------------------------------- /microtrac_robot/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(microtrac_robot) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | -------------------------------------------------------------------------------- /microtrac_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(microtrac_control) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | -------------------------------------------------------------------------------- /microtrac_navigation/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(microtrac_navigation) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | -------------------------------------------------------------------------------- /microtrac_robot/README.md: -------------------------------------------------------------------------------- 1 | # microtrac_robot 2 | Meta-package for MicroTrac ROS packages: 3 | 4 | microtrac_base 5 | microtrac_control 6 | microtrac_description 7 | microtrac_navigation 8 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # MicroTrac 2 | Software for [Open Source Ecology's MicroTrac](http://opensourceecology.org/wiki/Tractor_Construction_Set_2017) 3 | 4 | 5 | 6 | [![MicroTrac](http://rosagriculture.org/images/OSEMicroTractor.png)](https://www.youtube.com/watch?v=dGp4zrRpEs8) 7 | 8 | 9 | -------------------------------------------------------------------------------- /microtrac_base/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | microtrac_base 4 | 0.0.0 5 | The microtrac base package 6 | 7 | Matt Droter 8 | 9 | MIT 10 | catkin 11 | 12 | 13 | -------------------------------------------------------------------------------- /microtrac_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | microtrac_control 4 | 0.0.0 5 | The microtrac control package 6 | 7 | Matt Droter 8 | 9 | MIT 10 | catkin 11 | 12 | 13 | -------------------------------------------------------------------------------- /microtrac_navigation/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | microtrac_navigation 4 | 0.0.0 5 | The microtrac navigation package 6 | 7 | Matt Droter 8 | 9 | MIT 10 | catkin 11 | 12 | 13 | -------------------------------------------------------------------------------- /microtrac_description/README.md: -------------------------------------------------------------------------------- 1 | # microtrac_description 2 | Meshes and URDF for [Open Source Ecology's MicroTrac](http://opensourceecology.org/wiki/Tractor_Construction_Set_2017) 3 | 4 | To Test the URDF: 5 | 6 | $ mkdir -p ~/ros_ws/src 7 | $ cd ~/ros_ws/src 8 | $ git clone https://github.com/ros-agriculture/microtrac.git 9 | $ cd ~/ros_ws 10 | $ source /opt/ros/kinetic/setup.sh 11 | $ catkin_make 12 | $ source devel/setup.sh 13 | $ roslaunch microtrac_description test_microtrac_urdf.launch 14 | 15 | ![MicroTrac RViz](config/microtrac_rviz.png?raw=true "MicroTrac in RViz") 16 | -------------------------------------------------------------------------------- /microtrac_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | microtrac_description 4 | 0.0.0 5 | The microtrac_description package 6 | 7 | Matt Droter 8 | Ian McMahon 9 | 10 | MIT 11 | catkin 12 | joint_state_publisher 13 | robot_state_publisher 14 | tf2_ros 15 | xacro 16 | 17 | 18 | -------------------------------------------------------------------------------- /microtrac_robot/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | microtrac_robot 4 | 0.0.0 5 | The microtrac robot meta package 6 | 7 | Matt Droter 8 | Ian McMahon 9 | 10 | MIT 11 | catkin 12 | 13 | microtrac_base 14 | microtrac_control 15 | microtrac_description 16 | microtrac_navigation 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /microtrac_description/urdf/microtrac.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_base/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_control/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_robot/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_description/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_navigation/LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 ROS-Agriculture 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /microtrac_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(microtrac_description) 3 | 4 | find_package(catkin REQUIRED) 5 | catkin_package() 6 | 7 | 8 | ############# 9 | ## Install ## 10 | ############# 11 | 12 | ## Mark executables and/or libraries for installation 13 | # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node 14 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 15 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 16 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 17 | # ) 18 | 19 | ## Mark cpp header files for installation 20 | # install(DIRECTORY include/${PROJECT_NAME}/ 21 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 22 | # FILES_MATCHING PATTERN "*.h" 23 | # PATTERN ".svn" EXCLUDE 24 | # ) 25 | 26 | ## Mark other files for installation (e.g. launch and bag files, etc.) 27 | # install(FILES 28 | # # myfile1 29 | # # myfile2 30 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 31 | # ) 32 | 33 | ############# 34 | ## Testing ## 35 | ############# 36 | 37 | ## Add gtest based cpp test target and link libraries 38 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_microtrac_description.cpp) 39 | # if(TARGET ${PROJECT_NAME}-test) 40 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 41 | # endif() 42 | 43 | ## Add folders to be run by python nosetests 44 | # catkin_add_nosetests(test) 45 | -------------------------------------------------------------------------------- /microtrac_description/launch/test_microtrac_urdf.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /microtrac_description/urdf/microtrac_base.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | -------------------------------------------------------------------------------- /microtrac_description/config/microtrac.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 272 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /RobotModel1/Links1 11 | - /RobotModel1/Links1/l_drivetrain_link1 12 | - /RobotModel1/Links1/l_front_wheel_link1 13 | - /RobotModel1/Links1/l_rear_wheel_link1 14 | - /RobotModel1/Links1/r_front_wheel_link1 15 | - /RobotModel1/Links1/r_rear_wheel_link1 16 | - /TF1 17 | - /TF1/Frames1 18 | Splitter Ratio: 0.638235271 19 | Tree Height: 551 20 | - Class: rviz/Selection 21 | Name: Selection 22 | - Class: rviz/Tool Properties 23 | Expanded: 24 | - /2D Pose Estimate1 25 | - /2D Nav Goal1 26 | - /Publish Point1 27 | Name: Tool Properties 28 | Splitter Ratio: 0.588679016 29 | - Class: rviz/Views 30 | Expanded: 31 | - /Current View1 32 | Name: Views 33 | Splitter Ratio: 0.5 34 | - Class: rviz/Time 35 | Experimental: false 36 | Name: Time 37 | SyncMode: 0 38 | SyncSource: "" 39 | Visualization Manager: 40 | Class: "" 41 | Displays: 42 | - Alpha: 0.5 43 | Cell Size: 1 44 | Class: rviz/Grid 45 | Color: 160; 160; 164 46 | Enabled: true 47 | Line Style: 48 | Line Width: 0.0299999993 49 | Value: Lines 50 | Name: Grid 51 | Normal Cell Count: 0 52 | Offset: 53 | X: 0 54 | Y: 0 55 | Z: 0 56 | Plane: XY 57 | Plane Cell Count: 10 58 | Reference Frame: 59 | Value: true 60 | - Alpha: 1 61 | Class: rviz/RobotModel 62 | Collision Enabled: true 63 | Enabled: true 64 | Links: 65 | All Links Enabled: true 66 | Expand Joint Details: false 67 | Expand Link Details: false 68 | Expand Tree: false 69 | Link Tree Style: Links in Alphabetic Order 70 | base_link: 71 | Alpha: 1 72 | Show Axes: false 73 | Show Trail: false 74 | frame_link: 75 | Alpha: 1 76 | Show Axes: false 77 | Show Trail: false 78 | Value: true 79 | l_drivetrain_link: 80 | Alpha: 1 81 | Show Axes: false 82 | Show Trail: false 83 | Value: true 84 | l_front_wheel_link: 85 | Alpha: 0.5 86 | Show Axes: false 87 | Show Trail: false 88 | Value: true 89 | l_rear_wheel_link: 90 | Alpha: 0.5 91 | Show Axes: false 92 | Show Trail: false 93 | Value: true 94 | powercube_link: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | r_drivetrain_link: 100 | Alpha: 1 101 | Show Axes: false 102 | Show Trail: false 103 | Value: true 104 | r_front_wheel_link: 105 | Alpha: 0.5 106 | Show Axes: false 107 | Show Trail: false 108 | Value: true 109 | r_rear_wheel_link: 110 | Alpha: 0.5 111 | Show Axes: false 112 | Show Trail: false 113 | Value: true 114 | Name: RobotModel 115 | Robot Description: robot_description 116 | TF Prefix: "" 117 | Update Interval: 0 118 | Value: true 119 | Visual Enabled: true 120 | - Class: rviz/TF 121 | Enabled: true 122 | Frame Timeout: 15 123 | Frames: 124 | All Enabled: false 125 | base_link: 126 | Value: true 127 | frame_link: 128 | Value: true 129 | l_drivetrain_link: 130 | Value: true 131 | l_front_wheel_link: 132 | Value: true 133 | l_rear_wheel_link: 134 | Value: true 135 | odom: 136 | Value: true 137 | powercube_link: 138 | Value: true 139 | r_drivetrain_link: 140 | Value: true 141 | r_front_wheel_link: 142 | Value: true 143 | r_rear_wheel_link: 144 | Value: true 145 | Marker Scale: 1 146 | Name: TF 147 | Show Arrows: true 148 | Show Axes: true 149 | Show Names: false 150 | Tree: 151 | odom: 152 | base_link: 153 | frame_link: 154 | {} 155 | l_drivetrain_link: 156 | l_front_wheel_link: 157 | {} 158 | l_rear_wheel_link: 159 | {} 160 | powercube_link: 161 | {} 162 | r_drivetrain_link: 163 | r_front_wheel_link: 164 | {} 165 | r_rear_wheel_link: 166 | {} 167 | Update Interval: 0 168 | Value: true 169 | Enabled: true 170 | Global Options: 171 | Background Color: 48; 48; 48 172 | Fixed Frame: base_link 173 | Frame Rate: 30 174 | Name: root 175 | Tools: 176 | - Class: rviz/Interact 177 | Hide Inactive Objects: true 178 | - Class: rviz/MoveCamera 179 | - Class: rviz/Select 180 | - Class: rviz/FocusCamera 181 | - Class: rviz/Measure 182 | - Class: rviz/SetInitialPose 183 | Topic: /initialpose 184 | - Class: rviz/SetGoal 185 | Topic: /move_base_simple/goal 186 | - Class: rviz/PublishPoint 187 | Single click: true 188 | Topic: /clicked_point 189 | Value: true 190 | Views: 191 | Current: 192 | Class: rviz/Orbit 193 | Distance: 2.43076324 194 | Enable Stereo Rendering: 195 | Stereo Eye Separation: 0.0599999987 196 | Stereo Focal Distance: 1 197 | Swap Stereo Eyes: false 198 | Value: false 199 | Focal Point: 200 | X: 0.307029396 201 | Y: -0.00394999981 202 | Z: 0.00267457962 203 | Focal Shape Fixed Size: true 204 | Focal Shape Size: 0.0500000007 205 | Invert Z Axis: false 206 | Name: Current View 207 | Near Clip Distance: 0.00999999978 208 | Pitch: 0.386434734 209 | Target Frame: 210 | Value: Orbit (rviz) 211 | Yaw: 0.698707998 212 | Saved: ~ 213 | Window Geometry: 214 | Displays: 215 | collapsed: false 216 | Height: 1039 217 | Hide Left Dock: false 218 | Hide Right Dock: false 219 | QMainWindow State: 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220 | Selection: 221 | collapsed: false 222 | Time: 223 | collapsed: false 224 | Tool Properties: 225 | collapsed: false 226 | Views: 227 | collapsed: false 228 | Width: 1602 229 | X: 1 230 | Y: 1 231 | -------------------------------------------------------------------------------- /microtrac_description/meshes/large_piston_lower.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 2017-10-14T16:33:40.804148 4 | 2017-10-14T16:33:40.804157 5 | Z_UP 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 0.0 0.0 0.0 1.0 14 | 15 | 16 | 0.0 0.0 0.0 1.0 17 | 18 | 19 | 0.7 0.7 0.7 1.0 20 | 21 | 22 | 1 1 1 1.0 23 | 24 | 25 | 0.0 26 | 27 | 28 | 0.0 0.0 0.0 1.0 29 | 30 | 31 | 0.0 32 | 33 | 34 | 0.0 0.0 0.0 1.0 35 | 36 | 37 | 1.0 38 | 39 | 40 | 41 | 42 | 43 | 0 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 2.722411e-06 38.1 5.745083e-06 2.722411e-06 38.1 5.745083e-06 2.722411e-06 38.1 5.745083e-06 2.722411e-06 38.1 5.745083e-06 2.722411e-06 38.1 5.745083e-06 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79 |
80 |
81 |
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111 |
112 |
113 |
114 |
115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 |
146 | -------------------------------------------------------------------------------- /microtrac_description/meshes/small_piston_lower.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | VCGLab 6 | VCGLib | MeshLab 7 | 8 | Y_UP 9 | Sat Oct 14 20:42:04 2017 10 | Sat Oct 14 20:42:04 2017 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 135.516 1314.79 942.979 134.804 1312.63 945.309 130.179 1329.69 960.438 134.276 1309.92 947.036 136.366 1316.26 940.2 133.967 1306.84 948.047 137.297 1316.95 937.155 133.897 1303.59 948.275 145.031 1329.69 911.858 140.043 1313.87 928.174 139.157 1315.83 931.07 138.248 1316.8 934.043 130.179 1278.89 960.438 134.072 1300.39 947.705 134.478 1297.44 946.375 135.09 1294.94 944.372 140.732 1311.14 925.921 135.868 1293.06 941.829 141.168 1307.86 924.492 136.76 1291.92 938.911 141.318 1304.29 924.003 137.708 1291.59 935.812 145.031 1278.89 911.858 138.648 1292.1 932.735 139.52 1293.41 929.883 140.266 1295.44 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283 49 134 49 132 49 294 50 303 50 304 50 294 51 289 51 303 51 298 52 304 52 305 52 298 53 294 53 304 53 287 54 306 54 307 54 300 55 305 55 308 55 300 56 298 56 305 56 291 57 307 57 309 57 291 58 309 58 310 58 302 59 308 59 311 59 291 60 287 60 307 60 302 61 300 61 308 61 283 62 311 62 312 62 283 63 302 63 311 63 295 64 310 64 313 64 295 65 291 65 310 65 282 66 312 66 306 66 282 67 283 67 312 67 297 68 313 68 314 68 287 69 282 69 306 69 297 70 295 70 313 70 296 71 314 71 315 71 296 72 297 72 314 72 293 73 315 73 316 73 293 74 296 74 315 74 290 75 316 75 317 75 290 76 293 76 316 76 286 77 317 77 318 77 286 78 290 78 317 78 278 79 318 79 319 79 278 80 286 80 318 80 279 81 278 81 319 81 301 82 319 82 320 82 301 83 279 83 319 83 299 84 301 84 320 84 299 85 320 85 321 85 292 86 299 86 321 86 292 87 321 87 322 87 288 88 292 88 322 88 288 89 322 89 323 89 284 90 288 90 323 90 284 91 323 91 324 91 280 92 324 92 325 92 280 93 284 93 324 93 281 94 325 94 326 94 281 95 280 95 325 95 285 96 326 96 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332 138 346 139 347 139 331 139 347 140 348 140 331 140 348 141 349 141 331 141 346 142 331 142 310 142 350 143 351 143 352 143 353 144 354 144 310 144 354 145 355 145 310 145 355 146 346 146 310 146 332 147 345 147 328 147 345 148 353 148 328 148 356 149 350 149 357 149 353 150 310 150 328 150 350 151 352 151 357 151 351 152 358 152 359 152 352 153 351 153 359 153 360 154 356 154 361 154 356 155 357 155 361 155 358 156 349 156 362 156 359 157 358 157 362 157 363 158 360 158 364 158 360 159 361 159 364 159 362 160 349 160 365 160 366 161 363 161 367 161 363 162 364 162 367 162 365 163 349 163 368 163 369 164 366 164 370 164 366 165 367 165 370 165 368 166 349 166 371 166 369 167 370 167 372 167 371 168 349 168 348 168 369 169 372 169 373 169 373 170 372 170 374 170 374 171 339 171 338 171 373 172 374 172 338 172 375 173 376 173 377 173 378 174 375 174 377 174 376 175 379 175 380 175 381 176 382 176 380 176 383 177 381 177 380 177 379 178 383 178 380 178 377 179 376 179 380 179 384 180 385 180 329 180 385 181 335 181 329 181 384 182 329 182 324 182 386 183 384 183 324 183 387 184 386 184 324 184 388 185 387 185 324 185 380 186 382 186 330 186 388 187 324 187 330 187 389 188 388 188 330 188 382 189 389 189 330 189 390 190 391 190 392 190 391 191 393 191 394 191 392 192 391 192 394 192 395 193 390 193 396 193 390 194 392 194 396 194 393 195 397 195 398 195 394 196 393 196 398 196 399 197 395 197 400 197 395 198 396 198 400 198 397 199 335 199 401 199 398 200 397 200 401 200 402 201 399 201 403 201 404 202 402 202 403 202 399 203 400 203 403 203 401 204 335 204 405 204 406 205 404 205 407 205 404 206 403 206 407 206 405 207 335 207 408 207 406 208 407 208 409 208 408 209 335 209 410 209 406 210 409 210 411 210 411 211 409 211 412 211 410 212 335 212 385 212 412 213 375 213 378 213 411 214 412 214 378 214 380 215 330 215 413 215 414 216 380 216 413 216 349 217 415 217 416 217 416 218 413 218 318 218 413 219 330 219 318 219 349 220 416 220 331 220 416 221 318 221 331 221 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462 263 465 264 464 264 466 264 465 265 463 265 464 265 467 266 466 266 468 266 467 267 465 267 466 267 434 268 433 268 469 268 434 269 469 269 470 269 434 270 470 270 461 270 434 271 461 271 450 271 438 272 467 272 468 272 438 273 468 273 439 273 471 274 472 274 473 274 473 275 472 275 474 275 475 276 476 276 477 276 478 277 479 277 480 277 478 278 480 278 481 278 482 279 483 279 484 279 482 280 484 280 475 280 485 281 486 281 487 281 488 282 478 282 481 282 485 283 487 283 489 283 488 284 481 284 490 284 491 285 483 285 482 285 491 286 490 286 483 286 491 287 488 287 490 287 492 288 489 288 487 288 493 289 486 289 485 289 494 290 492 290 487 290 495 291 486 291 493 291 496 292 487 292 497 292 496 293 494 293 487 293 498 294 499 294 486 294 498 295 486 295 495 295 500 296 496 296 497 296 501 297 502 297 499 297 501 298 499 298 498 298 503 299 500 299 497 299 504 300 502 300 501 300 505 301 502 301 504 301 506 302 503 302 497 302 507 303 505 303 504 303 508 304 507 304 509 304 508 305 505 305 507 305 510 306 509 306 511 306 510 307 508 307 509 307 479 308 510 308 511 308 479 309 511 309 480 309 477 310 476 310 512 310 477 311 513 311 506 311 477 312 514 312 513 312 477 313 512 313 514 313 477 314 506 314 497 314 475 315 484 315 476 315 515 316 516 316 517 316 518 317 515 317 517 317 516 318 519 318 517 318 520 319 518 319 521 319 518 320 517 320 521 320 520 321 521 321 522 321 523 322 520 322 524 322 520 323 522 323 524 323 525 324 523 324 526 324 527 325 525 325 526 325 523 326 524 326 526 326 527 327 526 327 528 327 529 328 530 328 478 328 531 329 478 329 532 329 531 330 529 330 478 330 533 331 532 331 534 331 533 332 531 332 532 332 535 333 534 333 482 333 535 334 533 334 534 334 536 335 535 335 482 335 537 336 482 336 538 336 537 337 536 337 482 337 539 338 538 338 540 338 539 339 537 339 538 339 529 340 527 340 528 340 529 341 528 341 530 341 541 342 496 342 500 342 541 343 500 343 503 343 542 344 541 344 503 344 543 345 544 345 512 345 545 346 542 346 503 346 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494 388 565 389 564 389 494 389 565 390 494 390 496 390 541 391 565 391 496 391 566 392 428 392 430 392 566 393 430 393 567 393 566 394 567 394 568 394 569 395 568 395 570 395 569 396 566 396 568 396 571 397 569 397 570 397 572 398 570 398 573 398 572 399 573 399 574 399 572 400 571 400 570 400 575 401 572 401 574 401 576 402 574 402 577 402 576 403 575 403 574 403 578 404 577 404 579 404 578 405 576 405 577 405 447 406 580 406 581 406 447 407 581 407 582 407 445 408 447 408 582 408 453 409 451 409 583 409 445 410 582 410 584 410 451 411 585 411 583 411 440 412 445 412 584 412 456 413 453 413 586 413 446 414 440 414 587 414 459 415 456 415 586 415 440 416 584 416 587 416 453 417 583 417 586 417 446 418 587 418 588 418 462 419 459 419 589 419 448 420 446 420 588 420 459 421 586 421 589 421 451 422 448 422 588 422 451 423 588 423 585 423 462 424 589 424 590 424 464 425 462 425 591 425 462 426 590 426 591 426 466 427 464 427 592 427 464 428 591 428 592 428 468 429 466 429 593 429 439 430 468 430 593 430 466 431 592 431 593 431 439 432 593 432 594 432 443 433 439 433 595 433 439 434 594 434 595 434 436 435 443 435 596 435 432 436 436 436 596 436 443 437 595 437 596 437 432 438 596 438 597 438 432 439 597 439 598 439 433 440 432 440 598 440 433 441 598 441 599 441 469 442 433 442 599 442 470 443 469 443 599 443 470 444 599 444 600 444 470 445 600 445 601 445 461 446 470 446 601 446 461 447 601 447 602 447 458 448 461 448 602 448 455 449 458 449 602 449 455 450 602 450 603 450 455 451 603 451 604 451 452 452 455 452 604 452 452 453 604 453 580 453 449 454 452 454 580 454 447 455 449 455 580 455

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