Update aegis_description with LED strips (#131)

* urdf wled model added, README updated

* names changed, added parameter for wled suporters, moved definitions to cell.xacro

* aegis.xacro fix

* all fixes

* disable_leds argument missing again

* fixed names

* prek run

* gitignore updated

* prek run

Author: Taboredeq

.gitignore

@@ -14,3 +14,4 @@ proto_*/
 dist/
 *.whl
 *.tar.gz
+*.vscode/

aegis_description/CHANGELOG.md

@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* [PR-131](https://github.com/AGH-CEAI/aegis_ros/pull/131) - LED lighting supports to the cell.
 * [PR-95](https://github.com/AGH-CEAI/aegis_ros/pull/118) - Added cell adapter.
 
 ### Changed

aegis_description/meshes/lighting_support_left.dae

@@ -3,6 +3,7 @@
   <xacro:arg name="mock_hardware" default="false"/>
   <xacro:arg name="disable_cell" default="false"/>
   <xacro:arg name="disable_cell_collision" default="false"/>
+  <xacro:arg name="disable_leds" default="false"/>
 
   <xacro:arg name="base_link" default="world"/>
   <xacro:arg name="prefix" default=""/>

aegis_description/meshes/lighting_support_right.dae

@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find aegis_description)/urdf/modules/cell.xacro"/>
+  <xacro:include filename="$(find aegis_description)/urdf/modules/lighting_support_right.xacro"/>
+  <xacro:include filename="$(find aegis_description)/urdf/modules/lighting_support_left.xacro"/>
   <xacro:include filename="$(find aegis_description)/urdf/modules/adapter_cell.xacro"/>
   <xacro:include filename="$(find aegis_description)/urdf/modules/ur_definition.xacro"/>
   <xacro:include filename="$(find aegis_description)/urdf/modules/adapter_to_sensor.xacro"/>
@@ -14,8 +16,8 @@
   <xacro:include filename="$(find aegis_description)/urdf/modules/camera_tool_basler.xacro"/>
   <xacro:include filename="$(find aegis_description)/urdf/modules/lens_computar.xacro"/>
 
-  <xacro:macro name="aegis_robot" params="parent tf_prefix prefix mock_hardware disable_cell disable_cell_collision">
-    <xacro:cell parent="${parent}" disable_cell="${disable_cell}" disable_cell_collision="${disable_cell_collision}"/>
+  <xacro:macro name="aegis_robot" params="parent tf_prefix prefix mock_hardware disable_cell disable_cell_collision disable_leds">
+    <xacro:cell parent="${parent}" disable_cell="${disable_cell}" disable_cell_collision="${disable_cell_collision}" disable_leds="${disable_leds}"/>
     <xacro:adapter_cell parent="${parent}" prefix="${prefix}" disable_cell="${disable_cell}" disable_cell_collision="${disable_cell_collision}"/>
     <xacro:ur_definition name="aegis" parent="${parent}" tf_prefix="${tf_prefix}" mock_hardware="${mock_hardware}"/>
     <xacro:adapter_to_sensor parent="tool0" prefix="${prefix}"/>

aegis_description/urdf/aegis.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="cell" params="parent disable_cell disable_cell_collision">
+  <xacro:macro name="cell" params="parent disable_cell disable_cell_collision disable_leds">
     <xacro:unless value="${disable_cell}">
       <joint name="world_to_cell" type="fixed">
         <origin xyz="0 0 -0.821" rpy="0 0 -${0.5 * pi}"/>
@@ -66,6 +66,11 @@
           </collision>
         </xacro:unless>
       </link>
+
+      <xacro:unless value="${disable_leds}">
+        <xacro:lighting_support_right parent="cell" prefix=""/>
+        <xacro:lighting_support_left parent="cell" prefix=""/>
+      </xacro:unless>
     </xacro:unless>
   </xacro:macro>
 </robot>

aegis_description/urdf/aegis.xacro

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="lighting_support_left" params="parent prefix">
+    <joint name="${prefix}lighting_support_left_joint" type="fixed">
+      <origin xyz="0.32 0.495 0.35" rpy="0.0 0.0 ${pi}"/>
+      <parent link="${parent}"/>
+      <child link="${prefix}lighting_support_left_link"/>
+    </joint>
+
+    <link name="${prefix}lighting_support_left_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://aegis_description/meshes/lighting_support_left.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://aegis_description/meshes/lighting_support_left.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+
+      <inertial>
+        <mass value="0.1"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+</robot>

aegis_description/urdf/modules/cell.xacro

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="lighting_support_right" params="parent prefix">
+    <joint name="${prefix}lighting_support_right_joint" type="fixed">
+      <origin xyz="0.32 0.50 0.35" rpy="0.0 0.0 ${pi}"/>
+      <parent link="${parent}"/>
+      <child link="${prefix}lighting_support_right_link"/>
+    </joint>
+
+    <link name="${prefix}lighting_support_right_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://aegis_description/meshes/lighting_support_right.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </visual>
+
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://aegis_description/meshes/lighting_support_right.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+
+      <inertial>
+        <mass value="0.1"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      </inertial>
+    </link>
+  </xacro:macro>
+</robot>