├── 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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75 | 76 | 77 | 78 |

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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 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