add hokuyo and adjust quimera_robot folder name.

Author: pxalcantara

config/quimera/back_wheel.yaml renamed to config/quimera_robot/back_wheel.yaml

@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:macro name="hokuyo_sensor" params=" *joint_origin parent_link "> 
+
+  <link name="hokuyo_link">
+      <collision>
+         <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="0.06 0.06 0.087"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://${package_name}/meshes/sensors/hokuyo.dae" />
+        </geometry>
+      </visual>
+      <inertial>
+        <mass value="1e-5" />
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+      </inertial>
+  </link>
+
+  <joint name="hokuyo_joint" type="fixed">
+    <axis xyz="0 1 0" />
+    <xacro:insert_block name="joint_origin" />
+    <parent link="${parent_link}"/>
+    <child link="hokuyo_link"/>
+  </joint>
+
+  <!-- hokuyo gazebo references -->
+  <gazebo reference="hokuyo_link">
+    <sensor type="gpu_ray" name="head_hokuyo_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>40</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>720</samples>
+            <resolution>1</resolution>
+            <min_angle>-1.570796</min_angle>
+            <max_angle>1.570796</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.10</min>
+          <max>30.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <!--Noise parameters based on published spec for Hokuyo laser
+               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+               reading. --> 
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">
+        <topicName>/${robot_name}/scan</topicName>
+        <frameName>hokuyo_link</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</xacro:macro>
+
+</robot>

config/quimera/base.yaml renamed to config/quimera_robot/base.yaml

@@ -2,9 +2,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="quimera_robot">
 
   <xacro:property name="package_name" value="mobile_robot_description"/>
-  <xacro:property name="robot_name" value="quimera"/>  
+  <xacro:property name="robot_name" value="quimera_robot"/>  
 
   <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
+  <xacro:include filename="$(find ${package_name})/urdf/include/common_sensors.xacro" />
   <xacro:include filename="$(find ${package_name})/urdf/quimera_robot.gazebo.xacro" />
 
   <xacro:property name="back_wheel_yaml" value="$(find ${package_name})/config/${robot_name}/back_wheel.yaml" />
@@ -44,6 +45,11 @@
                       wheel_props="${front_wheel_props}"
                       base_props="${base_props}"> 
   </xacro:wheel>
-       
+
+  <!-- Sensors -->
+
+  <xacro:hokuyo_sensor parent_link="base_link" >
+    <origin xyz="-0.02 0 ${base_props['base']['z_size'] + 0.05}" rpy="0 0 0" />
+  </xacro:hokuyo_sensor>    
 
 </robot>