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Melodic devel #10

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8cd727c
修改插件库调用接口及安装脚本
Jul 3, 2018
e7fd1d3
修改urdf文件模型比例
Jul 3, 2018
32c1446
修改说明文档（安装步骤）
Jul 3, 2018
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6 changes: 3 additions & 3 deletions README.md
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Expand Up @@ -24,8 +24,8 @@ This repository contains the ROS wrapper of Sparks's driver plus various ROS app

### Prequirement

* System: Ubantu 14.04
* ROS Version: Indigo(Desktop-Full Install)
* System: Ubantu 18.04
* ROS Version: Melodic(Desktop-Full Install)

### Compile

Expand All @@ -36,7 +36,7 @@ mkdir -p sparkws/src
cd sparkws/src
git clone https://github.com/NXROBO/spark.git
cd spark
git checkout spark-05
git checkout melodic-devel

#install dependence package
cd ../..
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8 changes: 4 additions & 4 deletions doc/install.sh
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Expand Up @@ -8,10 +8,10 @@ sudo udevadm trigger

echo 'Installing required libs'
sudo apt-get update
sudo apt-get install ros-indigo-ecl ros-indigo-ecl-threads ros-indigo-rgbd-launch
sudo apt-get install ros-indigo-image-common
sudo apt-get install ros-indigo-move-base-*
sudo apt-get install ros-indigo-depthimage-to-laserscan ros-indigo-map-server ros-indigo-amcl ros-indigo-gmapping ros-indigo-navigation*
sudo apt-get install ros-melodic-ecl ros-melodic-ecl-threads ros-melodic-rgbd-launch
sudo apt-get install ros-melodic-image-common
sudo apt-get install ros-melodic-move-base-*
sudo apt-get install ros-melodic-depthimage-to-laserscan ros-melodic-map-server ros-melodic-amcl ros-melodic-gmapping ros-melodic-navigation*
sudo apt-get install libasound2-dev mplayer
echo 'Spark driver is installed'

12 changes: 6 additions & 6 deletions spark_v05/spark/spark_description/urdf/base/spark_base.urdf
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Expand Up @@ -38,7 +38,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/spark_base.DAE" />
filename="package://spark_description/meshes/spark/base/spark_base.DAE" scale="0.001 0.001 0.001" />
</geometry>

</visual>
Expand All @@ -48,7 +48,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/spark_base.DAE" />
filename="package://spark_description/meshes/spark/base/spark_base.DAE" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -82,7 +82,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/left_wheel.DAE" />
filename="package://spark_description/meshes/spark/base/left_wheel.DAE" scale="0.001 0.001 0.001" />
</geometry>

</visual>
Expand All @@ -92,7 +92,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/left_wheel.DAE" />
filename="package://spark_description/meshes/spark/base/left_wheel.DAE" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -127,7 +127,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/right_wheel.DAE" />
filename="package://spark_description/meshes/spark/base/right_wheel.DAE" scale="0.001 0.001 0.001" />
</geometry>

</visual>
Expand All @@ -137,7 +137,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://spark_description/meshes/spark/base/right_wheel.DAE" />
filename="package://spark_description/meshes/spark/base/right_wheel.DAE" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
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4 changes: 2 additions & 2 deletions spark_v05/spark/spark_description/urdf/sensors/spark_camera.urdf
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Expand Up @@ -26,15 +26,15 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" />
<mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" />
<mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" scale="0.001 0.001 0.001" />
</geometry>
</collision>

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4 changes: 2 additions & 2 deletions spark_v05/spark/spark_description/urdf/stack/spark_stack.urdf
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Expand Up @@ -27,7 +27,7 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" />
<mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" scale="0.001 0.001 0.001" />
</geometry>

</visual>
Expand All @@ -36,7 +36,7 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" />
<mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" scale="0.001 0.001 0.001" />
</geometry>
</collision>

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2 changes: 1 addition & 1 deletion spark_v05/spark_driver/camera/ros_astra_camera/ros/astra_camera_nodelet.cpp
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Expand Up @@ -55,4 +55,4 @@ class AstraDriverNodelet : public nodelet::Nodelet
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_DECLARE_CLASS(astra_camera, AstraDriverNodelet, astra_camera::AstraDriverNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(astra_camera::AstraDriverNodelet, nodelet::Nodelet);