start-jsk/rtmros_gazebo

Move atlas generation to hrpsys_ros_bridge_tutorials

snozawa opened this issue · 3 comments

snozawa commented

Currently atlas model generation is written in hrpsys_gazebo_atlas.
We should move this model generation to hrpsys_ros_bridge_tutorials like other robots.

mmurooka commented

https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_atlas/catkin.cmake#L35
の35行目から62行目くらいを
hrpsys_ros_bridge_tutorials/catkin.cmakeに移すのかと思いますが，
この中で
collada_urdf_jsk_patch/urdf_to_collada
などを使っていますが，このような依存の問題はどうしましょうか．

hrpsys_ros_bridge_tutorialsがcollada_urdf_jsk_patchに依存してしまうでしょうか．

snozawa commented

@YoheiKakiuchi
Could you explain these conversions?

YoheiKakiuchi commented

Now, main difference between collada_urdf and collada_urdf_jsk_patch is using assimp_devel.
If atlas model can be converted with collada_urdf, you can change collada_urdf_jsk_patch ot collada_urdf.

As ros manner, urdf files in urdf directory are parts of robots and robot.urdf.xacro files in robots directory is xacro file for generating robot.
If you want to use urdf model, you should rosrun xacro xacro.py robot.urdf.xacro.