Fixed package names and added w200 urdf macro

clearpathrobotics · Aug 10, 2023 · 6b71fb9 · 6b71fb9
1 parent 194ad27
commit 6b71fb9
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Showing 5 changed files with 172 additions and 122 deletions.
diff --git a/clearpath_control/config/twist_mux.yaml b/clearpath_control/config/twist_mux.yaml
@@ -16,4 +16,3 @@ twist_mux:
     locks.e_stop.topic: platform/emergency_stop
     locks.e_stop.timeout: 0.0
     locks.e_stop.priority: 255
-
diff --git a/clearpath_platform_description/urdf/w200/attachments/warthog_arm_mount.urdf.xacro b/clearpath_platform_description/urdf/w200/attachments/warthog_arm_mount.urdf.xacro
@@ -5,14 +5,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/arm-mount-plate.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/arm-mount-plate.stl" />
         </geometry>
         <material name="light_grey"/>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/arm-mount-plate.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/arm-mount-plate.stl" />
         </geometry>
       </collision>
       <inertial>

diff --git a/clearpath_platform_description/urdf/w200/attachments/warthog_bulkhead.urdf.xacro b/clearpath_platform_description/urdf/w200/attachments/warthog_bulkhead.urdf.xacro
@@ -5,14 +5,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/bulkhead.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/bulkhead.stl" />
         </geometry>
         <material name="black"><color rgba="0.15 0.15 0.15 1.0" /></material>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/bulkhead-collision.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/bulkhead-collision.stl" />
         </geometry>
       </collision>
       <inertial>

diff --git a/clearpath_platform_description/urdf/w200/attachments/warthog_generator.urdf.xacro b/clearpath_platform_description/urdf/w200/attachments/warthog_generator.urdf.xacro
@@ -5,14 +5,14 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/generator.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/generator.stl" />
         </geometry>
         <material name="black"><color rgba="0.15 0.15 0.15 1.0" /></material>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://warthog_description/meshes/generator.stl" />
+          <mesh filename="package://clearpath_platform_description/meshes/w200/generator.stl" />
         </geometry>
       </collision>
       <inertial>