From 77256b5aa1196216d23d505242a70c282928e731 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sun, 13 Aug 2023 08:57:08 +0000
Subject: [PATCH] Move r6bot into description package

---
 example_7/CMakeLists.txt                      |   2 +-
 .../bringup/launch/r6bot_controller.launch.py |   2 +-
 .../description/launch/view_r6bot.launch.py   |   2 +-
 example_7/description/urdf/r6bot.urdf.xacro   | 134 +----------------
 example_7/package.xml                         |   1 +
 ros2_control_demo_description/CMakeLists.txt  |  11 ++
 ros2_control_demo_description/package.xml     |  21 +++
 .../r6bot}/meshes/collision/link_0.stl        | Bin
 .../r6bot}/meshes/collision/link_1.stl        | Bin
 .../r6bot}/meshes/collision/link_2.stl        | Bin
 .../r6bot}/meshes/collision/link_3.stl        | Bin
 .../r6bot}/meshes/collision/link_4.stl        | Bin
 .../r6bot}/meshes/collision/link_5.stl        | Bin
 .../r6bot}/meshes/collision/link_6.stl        | Bin
 .../r6bot}/meshes/visual/link_0.dae           |   0
 .../r6bot}/meshes/visual/link_1.dae           |   0
 .../r6bot}/meshes/visual/link_2.dae           |   0
 .../r6bot}/meshes/visual/link_3.dae           |   0
 .../r6bot}/meshes/visual/link_4.dae           |   0
 .../r6bot}/meshes/visual/link_5.dae           |   0
 .../r6bot}/meshes/visual/link_6.dae           |   0
 .../r6bot}/rviz/view_robot.rviz               |   0
 .../r6bot}/srdf/r6bot.srdf                    |   0
 .../r6bot}/urdf/inc/create_link.xacro         |   0
 .../r6bot/urdf/r6bot_description.urdf.xacro   | 139 ++++++++++++++++++
 25 files changed, 179 insertions(+), 133 deletions(-)
 create mode 100644 ros2_control_demo_description/CMakeLists.txt
 create mode 100644 ros2_control_demo_description/package.xml
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_0.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_1.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_2.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_3.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_4.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_5.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/collision/link_6.stl (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_0.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_1.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_2.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_3.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_4.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_5.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/meshes/visual/link_6.dae (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/rviz/view_robot.rviz (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/srdf/r6bot.srdf (100%)
 rename {example_7/description => ros2_control_demo_description/r6bot}/urdf/inc/create_link.xacro (100%)
 create mode 100644 ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro

diff --git a/example_7/CMakeLists.txt b/example_7/CMakeLists.txt
index 159c43fd..713b6ef6 100644
--- a/example_7/CMakeLists.txt
+++ b/example_7/CMakeLists.txt
@@ -79,7 +79,7 @@ install(
   DESTINATION include/ros2_control_demo_example_7
 )
 install(
-  DIRECTORY description/launch description/ros2_control description/urdf description/rviz description/srdf  description/meshes
+  DIRECTORY description/launch description/ros2_control description/urdf
   DESTINATION share/ros2_control_demo_example_7
 )
 install(
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
index f32dae1f..bc3e048b 100644
--- a/example_7/bringup/launch/r6bot_controller.launch.py
+++ b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -46,7 +46,7 @@ def generate_launch_description():
         ]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"]
+        [FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"]
     )
 
     control_node = Node(
diff --git a/example_7/description/launch/view_r6bot.launch.py b/example_7/description/launch/view_r6bot.launch.py
index d53b50da..8b8f914d 100644
--- a/example_7/description/launch/view_r6bot.launch.py
+++ b/example_7/description/launch/view_r6bot.launch.py
@@ -51,7 +51,7 @@ def generate_launch_description():
     robot_description = {"robot_description": robot_description_content}
 
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare("ros2_control_demo_example_7"), "rviz", "view_robot.rviz"]
+        [FindPackageShare("ros2_control_demo_description"), "r6bot/rviz", "view_robot.rviz"]
     )
 
     joint_state_publisher_node = Node(
diff --git a/example_7/description/urdf/r6bot.urdf.xacro b/example_7/description/urdf/r6bot.urdf.xacro
index d03954ce..941be8c5 100644
--- a/example_7/description/urdf/r6bot.urdf.xacro
+++ b/example_7/description/urdf/r6bot.urdf.xacro
@@ -1,140 +1,14 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro" name="r6bot">
-  <!-- helper macro -->
-  <xacro:include filename="$(find ros2_control_demo_example_7)/urdf/inc/create_link.xacro"/>
+
+  <!-- Import r6bot macro -->
+  <xacro:include filename="$(find ros2_control_demo_description)/r6bot/urdf/r6bot_description.urdf.xacro"/>
 
   <!-- create link fixed to the "world" -->
   <link name="world"/>
 
-  <xacro:create_link
-      link_name="base_link"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_0"
-  />
-
-  <xacro:create_link
-      link_name="link_1"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_1"
-  />
-
-  <xacro:create_link
-      link_name="link_2"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_2"
-  />
-
-  <xacro:create_link
-      link_name="link_3"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_3"
-  />
-
-  <xacro:create_link
-      link_name="link_4"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_4"
-  />
-
-  <xacro:create_link
-      link_name="link_5"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_5"
-  />
-
-  <xacro:create_link
-      link_name="link_6"
-      xyz_offset="0 0 0"
-      rpy_offset="0 0 0"
-      mesh_package="ros2_control_demo_example_7"
-      mesh_name="link_6"
-  />
-
-  <link name="ft_frame"/>
-  <link name="tool0"/>
-
-  <!-- base_joint fixes base_link to the environment -->
-  <joint name="base_joint" type="fixed">
-    <parent link="world"/>
-    <child link="base_link"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <axis xyz="0 0 1"/>
-  </joint>
-
-  <!-- joints - main serial chain -->
-  <joint name="joint_1" type="revolute">
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <origin xyz="0 0 0.061584" rpy="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint_2" type="revolute">
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <origin xyz="-0.101717 0 0.182284" rpy="${-pi/2} -${pi/3} ${pi/2}"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint_3" type="revolute">
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <origin xyz="0.685682 0 0.041861" rpy="0 ${pi} ${pi+pi/2}"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint_4" type="revolute">
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <origin xyz="0.518777 0 0.067458" rpy="0 ${pi} ${pi+pi/6}"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint_5" type="revolute">
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <origin xyz="0.112654 0 0.110903" rpy="${pi/2} ${pi} ${pi/2}"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint_6" type="revolute">
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <origin xyz="-0.085976 0 0.133436" rpy="0 ${-pi/2} 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
-  </joint>
-
-  <joint name="joint-ft_frame" type="fixed">
-    <parent link="link_6"/>
-    <child link="ft_frame"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </joint>
-
-  <joint name="joint-tool" type="fixed">
-    <parent link="ft_frame"/>
-    <child link="tool0"/>
-    <origin xyz="0 0 .185" rpy="0 0 0"/>
-  </joint>
+  <xacro:r6bot_description/>
 
-  <!-- ros2 control tag -->
   <!-- Import r6bot ros2_control description -->
   <xacro:include filename="$(find ros2_control_demo_example_7)/ros2_control/r6bot.ros2_control.xacro" />
   <xacro:r6bot_ros2_control name="r6bot"/>
diff --git a/example_7/package.xml b/example_7/package.xml
index f96ff407..6d9ccefe 100644
--- a/example_7/package.xml
+++ b/example_7/package.xml
@@ -32,6 +32,7 @@
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>ros2launch</exec_depend>
+  <exec_depend>ros2_control_demo_description</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>urdf</exec_depend>
   <exec_depend>xacro</exec_depend>
diff --git a/ros2_control_demo_description/CMakeLists.txt b/ros2_control_demo_description/CMakeLists.txt
new file mode 100644
index 00000000..b762483a
--- /dev/null
+++ b/ros2_control_demo_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros2_control_demo_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY r6bot/launch r6bot/meshes r6bot/srdf r6bot/urdf r6bot/rviz
+  DESTINATION share/${PROJECT_NAME}/r6bot
+)
+
+ament_package()
diff --git a/ros2_control_demo_description/package.xml b/ros2_control_demo_description/package.xml
new file mode 100644
index 00000000..d43c784f
--- /dev/null
+++ b/ros2_control_demo_description/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2_control_demo_description</name>
+  <version>0.0.0</version>
+  <description>Package with URDF and description files of test robots.</description>
+
+  <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/example_7/description/meshes/collision/link_0.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_0.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_0.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_0.stl
diff --git a/example_7/description/meshes/collision/link_1.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_1.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_1.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_1.stl
diff --git a/example_7/description/meshes/collision/link_2.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_2.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_2.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_2.stl
diff --git a/example_7/description/meshes/collision/link_3.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_3.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_3.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_3.stl
diff --git a/example_7/description/meshes/collision/link_4.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_4.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_4.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_4.stl
diff --git a/example_7/description/meshes/collision/link_5.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_5.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_5.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_5.stl
diff --git a/example_7/description/meshes/collision/link_6.stl b/ros2_control_demo_description/r6bot/meshes/collision/link_6.stl
similarity index 100%
rename from example_7/description/meshes/collision/link_6.stl
rename to ros2_control_demo_description/r6bot/meshes/collision/link_6.stl
diff --git a/example_7/description/meshes/visual/link_0.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_0.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_0.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_0.dae
diff --git a/example_7/description/meshes/visual/link_1.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_1.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_1.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_1.dae
diff --git a/example_7/description/meshes/visual/link_2.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_2.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_2.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_2.dae
diff --git a/example_7/description/meshes/visual/link_3.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_3.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_3.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_3.dae
diff --git a/example_7/description/meshes/visual/link_4.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_4.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_4.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_4.dae
diff --git a/example_7/description/meshes/visual/link_5.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_5.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_5.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_5.dae
diff --git a/example_7/description/meshes/visual/link_6.dae b/ros2_control_demo_description/r6bot/meshes/visual/link_6.dae
similarity index 100%
rename from example_7/description/meshes/visual/link_6.dae
rename to ros2_control_demo_description/r6bot/meshes/visual/link_6.dae
diff --git a/example_7/description/rviz/view_robot.rviz b/ros2_control_demo_description/r6bot/rviz/view_robot.rviz
similarity index 100%
rename from example_7/description/rviz/view_robot.rviz
rename to ros2_control_demo_description/r6bot/rviz/view_robot.rviz
diff --git a/example_7/description/srdf/r6bot.srdf b/ros2_control_demo_description/r6bot/srdf/r6bot.srdf
similarity index 100%
rename from example_7/description/srdf/r6bot.srdf
rename to ros2_control_demo_description/r6bot/srdf/r6bot.srdf
diff --git a/example_7/description/urdf/inc/create_link.xacro b/ros2_control_demo_description/r6bot/urdf/inc/create_link.xacro
similarity index 100%
rename from example_7/description/urdf/inc/create_link.xacro
rename to ros2_control_demo_description/r6bot/urdf/inc/create_link.xacro
diff --git a/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro b/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro
new file mode 100644
index 00000000..7235c802
--- /dev/null
+++ b/ros2_control_demo_description/r6bot/urdf/r6bot_description.urdf.xacro
@@ -0,0 +1,139 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="r6bot_description">
+
+  <!-- helper macro -->
+  <xacro:include filename="$(find ros2_control_demo_description)/r6bot/urdf/inc/create_link.xacro"/>
+
+  <xacro:create_link
+      link_name="base_link"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_0"
+  />
+
+  <xacro:create_link
+      link_name="link_1"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_1"
+  />
+
+  <xacro:create_link
+      link_name="link_2"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_2"
+  />
+
+  <xacro:create_link
+      link_name="link_3"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_3"
+  />
+
+  <xacro:create_link
+      link_name="link_4"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_4"
+  />
+
+  <xacro:create_link
+      link_name="link_5"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_5"
+  />
+
+  <xacro:create_link
+      link_name="link_6"
+      xyz_offset="0 0 0"
+      rpy_offset="0 0 0"
+      mesh_package="ros2_control_demo_description/r6bot"
+      mesh_name="link_6"
+  />
+
+  <link name="ft_frame"/>
+  <link name="tool0"/>
+
+  <!-- base_joint fixes base_link to the environment -->
+  <joint name="base_joint" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+
+  <!-- joints - main serial chain -->
+  <joint name="joint_1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <origin xyz="0 0 0.061584" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint_2" type="revolute">
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <origin xyz="-0.101717 0 0.182284" rpy="${-pi/2} -${pi/3} ${pi/2}"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint_3" type="revolute">
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <origin xyz="0.685682 0 0.041861" rpy="0 ${pi} ${pi+pi/2}"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint_4" type="revolute">
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <origin xyz="0.518777 0 0.067458" rpy="0 ${pi} ${pi+pi/6}"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint_5" type="revolute">
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <origin xyz="0.112654 0 0.110903" rpy="${pi/2} ${pi} ${pi/2}"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint_6" type="revolute">
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <origin xyz="-0.085976 0 0.133436" rpy="0 ${-pi/2} 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.5"/>
+  </joint>
+
+  <joint name="joint-ft_frame" type="fixed">
+    <parent link="link_6"/>
+    <child link="ft_frame"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <joint name="joint-tool" type="fixed">
+    <parent link="ft_frame"/>
+    <child link="tool0"/>
+    <origin xyz="0 0 .185" rpy="0 0 0"/>
+  </joint>
+
+</xacro:macro>
+
+</robot>