<commit_before><?xml version="1.0"?>
<robot name="summit_xl" xmlns:xacro="http://wiki.ros.org/xacro">


	<!-- ***************** -->
	<!-- Imported elements -->
	<!-- ***************** -->

	<!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->

	<!-- Import summit XL base elements -->
	<xacro:include filename="$(find summit_xl_description)/urdf/bases/summit_xl_base.urdf.xacro" />

	<!-- Import summit XL wheels -->
	<xacro:include filename="$(find summit_xl_description)/urdf/wheels/rubber_wheel.urdf.xacro" />
  <xacro:include filename="$(find summit_xl_description)/urdf/wheels/omni_wheel.urdf.xacro" />


	<!-- Import all available sensors -->
	<xacro:include filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />

  <xacro:include filename="$(find kinova_description)/urdf/j2s7s300.xacro" />

	<xacro:property name="PI" value="3.1415926535897931"/>

	<!-- Wheel parameters -->
	<xacro:property name="wheel_offset_x" value="0.229" />    <!-- x,y,z in translation from base_link to the center of the wheel -->
	<xacro:property name="wheel_offset_y" value="0.235" />
	<xacro:property name="wheel_offset_z" value="0.0" />
	
  <xacro:property name="arm_offset_x" value="0.204" />    <!-- x,y,z in translation from base_link to the center of the arm -->
	<xacro:property name="arm_offset_y" value="0.0" />
	<xacro:property name="arm_offset_z" value="0.110" />
  <xacro:property name="arm_offset_roll" value="0.0" />    <!-- r,p,y in r from base_link to the center of the arm -->
	<xacro:property name="arm_offset_pitch" value="0.0" />
	<xacro:property name="arm_offset_yaw" value="0.0" />

	<!-- Flag to select the high or low quality model -->
	<xacro:property name="hq" value="true" />

	<xacro:arg name="prefix" default="summit_xl_"/>
	<xacro:arg name="ros_planar_move_plugin" default="false"/>
	<xacro:arg name="omni_wheels" default="false"/>
	<xacro:arg name="gpu" default="false"/>



    <xacro:macro name="summit_xl_gen" params="prefix publish_bf hq">

		<!-- *************** -->
		<!-- Robots Elements -->
		<!-- *************** -->

		<!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->

		<!-- Summit XL base -->
		<xacro:summit_xl_base prefix="$(arg prefix)" publish_bf="true" hq="${hq}" />

    <xacro:unless value="$(arg omni_wheels)">
  		<xacro:rubber_wheel prefix="$(arg prefix)front_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
  			<origin xyz="${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:rubber_wheel>

  		<xacro:rubber_wheel prefix="$(arg prefix)front_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
  			<origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:rubber_wheel>

  		<xacro:rubber_wheel prefix="$(arg prefix)back_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
  			<origin xyz="-${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:rubber_wheel>

  		<xacro:rubber_wheel prefix="$(arg prefix)back_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
  			<origin xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:rubber_wheel>
    </xacro:unless>
    <xacro:if value="$(arg omni_wheels)">
  		<xacro:omni_wheel prefix="$(arg prefix)front_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
  			<origin xyz="${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:omni_wheel>

  		<xacro:omni_wheel prefix="$(arg prefix)front_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
  			<origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:omni_wheel>

  		<xacro:omni_wheel prefix="$(arg prefix)back_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
  			<origin xyz="-${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:omni_wheel>

  		<xacro:omni_wheel prefix="$(arg prefix)back_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
  			<origin xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:omni_wheel>
    </xacro:if>
        <!-- IMU -->
		<xacro:sensor_imu prefix="$(arg prefix)imu" parent="$(arg prefix)base_link">
			<origin xyz="-0.18 0.0 0.170" rpy="0 0 0"/>
		</xacro:sensor_imu>
		<!-- 2d laser -->
		<!--xacro:sensor_hokuyo_ust10lx prefix="$(arg prefix)front_laser" parent="$(arg prefix)base_link" prefix_topic="front_laser" gpu="$(arg gpu)">
			<origin xyz="0.0 0.0 0.33" rpy="0 0 0"/>
		</xacro:sensor_hokuyo_ust10lx-->
		<!-- 3d laser -->
		<xacro:sensor_rslidar_mems prefix="$(arg prefix)top_3d_laser" parent="$(arg prefix)base_link">
			<origin xyz="0.3134 0 0.2424" rpy="0 0 0"/>
		</xacro:sensor_rslidar_mems>
		<!-- ptz camera -->
		<!--xacro:sensor_axis prefix="$(arg prefix)front_ptz_camera" parent="$(arg prefix)base_link">
			<origin xyz="0.19 0 0.26" rpy="0 ${15*PI/180} 0"/>
		</xacro:sensor_axis-->
	  <!-- RGBD -->
	  <!--xacro:sensor_orbbec_astra prefix="$(arg prefix)front_rgbd_camera" parent="$(arg prefix)base_link" prefix_topic="front_rgbd_camera">
			<origin xyz="0.324 0.012 0.172" rpy="0 0 0"/>
		</xacro:sensor_orbbec_astra-->
	  <!-- GPS -->
	  <xacro:sensor_gps_with_mast prefix="$(arg prefix)gps" parent="$(arg prefix)base_link">
		<origin xyz="-0.28 0 0.4176" rpy="0 0 0"/>
	</xacro:sensor_gps_with_mast>

    <!-- Instance jaco arm -->
    <joint name="$(arg prefix)arm_base_joint" type="fixed">
      <origin xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}" rpy="${arm_offset_roll} ${arm_offset_pitch} ${arm_offset_yaw}" />    
      <parent link="$(arg prefix)base_link" />
      <child link="$(arg prefix)arm_base_link" />
      <axis xyz="0 0 0" />
    </joint>

    <link name="$(arg prefix)arm_base_link" />

    <xacro:j2s7s300 base_parent="$(arg prefix)arm_base_link" prefix="$(arg prefix)j2s7s300"/>

   </xacro:macro>

   <!-- Gazebo ros control pluggins -->
   <xacro:ros_control/>

	<xacro:if value="$(arg ros_planar_move_plugin)">

		<xacro:if value="$(arg omni_wheels)">
			<xacro:omni_steering prefix="$(arg prefix)" publish_tf="true"/>
		</xacro:if>

		<xacro:unless value="$(arg omni_wheels)">
			<xacro:skid_steering prefix="$(arg prefix)" publish_tf="true"/>
		</xacro:unless>

	</xacro:if>

   <xacro:summit_xl_gen prefix="$(arg prefix)" publish_bf="true" hq="true"/>


</robot><commit_msg>description: Update version 200505AA with basic wheels<commit_after><?xml version="1.0"?>
<robot name="summit_xl" xmlns:xacro="http://wiki.ros.org/xacro">


	<!-- ***************** -->
	<!-- Imported elements -->
	<!-- ***************** -->

	<!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->

	<!-- Import summit XL base elements -->
	<xacro:include filename="$(find summit_xl_description)/urdf/bases/summit_xl_base.urdf.xacro" />

	<!-- Import summit XL wheels -->
	<xacro:include filename="$(find summit_xl_description)/urdf/wheels/basic_wheel.urdf.xacro" />

	<!-- Import all available sensors -->
	<xacro:include filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />

  <xacro:include filename="$(find kinova_description)/urdf/j2s7s300.xacro" />

	<xacro:property name="PI" value="3.1415926535897931"/>

	<!-- Wheel parameters -->
	<xacro:property name="wheel_offset_x" value="0.229" />    <!-- x,y,z in translation from base_link to the center of the wheel -->
	<xacro:property name="wheel_offset_y" value="0.235" />
	<xacro:property name="wheel_offset_z" value="0.0" />
	<xacro:property name="wheel_radius" value="0.1025" />
	<xacro:property name="wheel_height" value="0.14" />
	<xacro:property name="wheel_mass" value="0.5" />
	
  <xacro:property name="arm_offset_x" value="0.204" />    <!-- x,y,z in translation from base_link to the center of the arm -->
	<xacro:property name="arm_offset_y" value="0.0" />
	<xacro:property name="arm_offset_z" value="0.110" />
  <xacro:property name="arm_offset_roll" value="0.0" />    <!-- r,p,y in r from base_link to the center of the arm -->
	<xacro:property name="arm_offset_pitch" value="0.0" />
	<xacro:property name="arm_offset_yaw" value="0.0" />

	<!-- Flag to select the high or low quality model -->
	<xacro:property name="hq" value="true" />

	<xacro:arg name="prefix" default="summit_xl_"/>
	<xacro:arg name="ros_planar_move_plugin" default="false"/>
	<xacro:arg name="omni_wheels" default="false"/>
	<xacro:arg name="gpu" default="false"/>



    <xacro:macro name="summit_xl_gen" params="prefix publish_bf hq">

		<!-- *************** -->
		<!-- Robots Elements -->
		<!-- *************** -->

		<!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->

		<!-- Summit XL base -->
		<xacro:summit_xl_base prefix="$(arg prefix)" publish_bf="true" hq="${hq}" />

    
  		<xacro:basic_wheel prefix="$(arg prefix)front_right" parent="$(arg prefix)base_link" radius="${wheel_radius}" height="${wheel_height}" mass="${wheel_height}">
  			<origin xyz="${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:basic_wheel>

  		<xacro:basic_wheel prefix="$(arg prefix)front_left" parent="$(arg prefix)base_link" radius="${wheel_radius}" height="${wheel_height}" mass="${wheel_height}">
  			<origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:basic_wheel>

  		<xacro:basic_wheel prefix="$(arg prefix)back_left" parent="$(arg prefix)base_link" radius="${wheel_radius}" height="${wheel_height}" mass="${wheel_height}">
  			<origin xyz="-${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:basic_wheel>

  		<xacro:basic_wheel prefix="$(arg prefix)back_right" parent="$(arg prefix)base_link" radius="${wheel_radius}" height="${wheel_height}" mass="${wheel_height}">
  			<origin xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
  		</xacro:basic_wheel>
    
        <!-- IMU -->
      <xacro:sensor_imu prefix="$(arg prefix)imu" parent="$(arg prefix)base_link">
        <origin xyz="-0.18 0.0 0.170" rpy="0 0 0"/>
      </xacro:sensor_imu>
      <!-- 3d laser -->
      <xacro:sensor_rslidar_mems prefix="$(arg prefix)top_3d_laser" parent="$(arg prefix)base_link">
        <origin xyz="0.3134 0 0.2424" rpy="0 0 0"/>
      </xacro:sensor_rslidar_mems>
	
      <!-- GPS -->
      <xacro:sensor_gps_with_mast prefix="$(arg prefix)gps" parent="$(arg prefix)base_link">
        <origin xyz="-0.28 0 0.4176" rpy="0 0 0"/>
      </xacro:sensor_gps_with_mast>

      <!-- Instance jaco arm -->
      <joint name="$(arg prefix)arm_base_joint" type="fixed">
        <origin xyz="${arm_offset_x} ${arm_offset_y} ${arm_offset_z}" rpy="${arm_offset_roll} ${arm_offset_pitch} ${arm_offset_yaw}" />    
        <parent link="$(arg prefix)base_link" />
        <child link="$(arg prefix)arm_base_link" />
        <axis xyz="0 0 0" />
      </joint>

      <link name="$(arg prefix)arm_base_link" />

      <xacro:j2s7s300 base_parent="$(arg prefix)arm_base_link" prefix="$(arg prefix)j2s7s300"/>

    </xacro:macro>

   <!-- Gazebo ros control pluggins -->
    <xacro:ros_control/>

    <xacro:if value="$(arg ros_planar_move_plugin)">

      <xacro:if value="$(arg omni_wheels)">
        <xacro:omni_steering prefix="$(arg prefix)" publish_tf="true"/>
      </xacro:if>

      <xacro:unless value="$(arg omni_wheels)">
        <xacro:skid_steering prefix="$(arg prefix)" publish_tf="true"/>
      </xacro:unless>

    </xacro:if>

    <xacro:summit_xl_gen prefix="$(arg prefix)" publish_bf="true" hq="true"/>


</robot>
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