first commit

.gitignore

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+/.DS_Store
+/.vscode

robots/summit_xl_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(summit_xl_description)
+
+find_package(catkin REQUIRED COMPONENTS roslaunch urdf xacro robotnik_sensors)
+
+catkin_package(
+  CATKIN_DEPENDS urdf xacro
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+install(
+  DIRECTORY launch meshes urdf robots vrep
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

robots/summit_xl_description/assets/assets.xml

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+<mujocoinclude>
+
+    <compiler angle="radian" autolimits="true" meshdir = "./meshes"/>
+    <statistic meansize="0.767828" extent="17.3945" center="-1.30273 -0.281443 0.819464" />
+
+    <asset>
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.2 0.3" width="512" height="512"/>
+        <material name="MatGnd" reflectance="0.5" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    </asset>
+
+    <asset>
+        <mesh name="summit_xls_chassis" file="bases/xls/summit_xls_chassis.stl" />
+        <mesh name="summit_xls_chapas_inox_tapas" file="bases/xls/summit_xls_chapas_inox_tapas.stl" />
+        <mesh name="robotnik_logo_chasis" file="bases/xls/robotnik_logo_chasis.stl" />
+        <mesh name="summit_xls_omni_wheel_1" file="wheels/omni_wheel_1.stl" />
+        <mesh name="summit_xls_omni_wheel_2" file="wheels/omni_wheel_2.stl" />
+        <mesh name="structure_hokuyo" file="structures/structure_hokuyo.stl" />
+    </asset>
+
+</mujocoinclude>

robots/summit_xl_description/assets/basic_scene.xml

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+<mujocoinclude>
+
+    <geom name="ground" pos="0 0 -0.01" rgba="0.25 0.26 0.25 1" size="10 10 2" type="plane" contype="1" conaffinity="1" />
+
+    <light cutoff="4.0" diffuse="1 1 1" dir="-0.9 -0.9 -2.5" directional="true" exponent="20" pos="0.9 0.9 2.5" specular="0 0 0" />
+
+</mujocoinclude>

robots/summit_xl_description/assets/summit_xls_actuator.xml

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+<mujocoinclude>
+
+    <actuator>
+        <motor name="front_right_wheel_rolling_joint" joint="front_right_wheel_rolling_joint" ctrlrange="-10 10"/>
+        <motor name="front_left_wheel_rolling_joint"  joint="front_left_wheel_rolling_joint"  ctrlrange="-10 10"/>
+        <motor name="back_right_wheel_rolling_joint"  joint="back_right_wheel_rolling_joint"  ctrlrange="-10 10"/>
+        <motor name="back_left_wheel_rolling_joint"   joint="back_left_wheel_rolling_joint"   ctrlrange="-10 10"/>
+    </actuator>
+
+</mujocoinclude>

robots/summit_xl_description/launch/summit_xl_rviz.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <arg name="prefix" default="summit_xl_"/>
+  <arg name="rviz_config" default="$(find summit_xl_gazebo)/rviz/summitxl_a_std.rviz"/>
+  <arg name="robot_model"  default="summit_xl_std.urdf.xacro"  doc="Different robot versions: ('')"/>
+
+  <!-- Load the URDF into ROS parameter server -->
+  <arg name="urdf_file" default="$(find xacro)/xacro '$(find summit_xl_description)/robots/$(arg robot_model)' prefix:=$(arg prefix) --inorder" />
+  <param name="robot_description" command="$(arg urdf_file)" />
+
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)"/> 
+
+</launch>
+

robots/summit_xl_description/launch/summit_xl_state_robot.launch

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+<?xml version="1.0"?>
+<launch>
+
+  <arg name="prefix" default="robot_"/>
+  <arg name="robot_xacro" default="$(optenv ROBOT_XACRO summit_xl_std.urdf.xacro)"/>
+  <arg name="robot_xacro_package" default="$(optenv ROBOT_XACRO_PACKAGE summit_xl_description)"/>
+  <arg name="robot_xacro_relative_path" default="$(optenv ROBOT_XACRO_RELATIVE_PATH /robots/)" />
+  <arg name="robot_xacro_path" default="$(eval find(robot_xacro_package) + robot_xacro_relative_path + robot_xacro)"/>
+
+  <arg name="use_joint_state_publisher" default="false"/>
+
+  <arg name="gps_latitude" default="39.5080331"/>
+  <arg name="gps_longitude" default="-0.4619816"/>
+
+	<arg name="ros_planar_move_plugin" default="false"/>
+  <arg name="use_gpu_for_simulation" default="true"/>
+
+  <arg name="kinematics" default="skid"/>
+
+  <!-- 
+    kinematic argument must be parsed inside xacro file (diff and omni)
+    To do: add this feature without breaking others developments
+  -->
+
+  <!-- Load the URDF into ROS parameter server -->
+  <arg name="urdf_skid_file" default="$(find xacro)/xacro '$(arg robot_xacro_path)' prefix:=$(arg prefix)  ros_planar_move_plugin:=$(arg ros_planar_move_plugin) omni_wheels:=false gpu:=$(arg use_gpu_for_simulation) gps_latitude:='$(arg gps_latitude)' gps_longitude:='$(arg gps_longitude)'" />
+  <arg name="urdf_omni_file" default="$(find xacro)/xacro '$(arg robot_xacro_path)' prefix:=$(arg prefix)  ros_planar_move_plugin:=$(arg ros_planar_move_plugin) omni_wheels:=true gpu:=$(arg use_gpu_for_simulation) gps_latitude:='$(arg gps_latitude)' gps_longitude:='$(arg gps_longitude)'" />
+
+  <group unless="$(eval kinematics == 'skid')">
+    <param name="robot_description" command="$(arg urdf_skid_file)" />
+  </group>
+
+  <group unless="$(eval kinematics == 'diff')">
+    <param name="robot_description" command="$(arg urdf_skid_file)" />
+  </group>
+
+  <group if="$(eval kinematics == 'omni')">
+    <param name="robot_description" command="$(arg urdf_omni_file)" />
+  </group>
+
+  <!-- send fake joint values -->
+  <node if="$(arg use_joint_state_publisher)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="FALSE"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
+	<remap from="/joint_states" to="joint_states"/>
+  </node>
+
+</launch>