Model submission for Husky sensor config 3, 4 by CTU-CRAS-Norlab.

submitted_models/ctu_cras_norlab_husky_sensor_config_3/.gitignore

@@ -0,0 +1 @@
+model.sdf.urdf

submitted_models/ctu_cras_norlab_husky_sensor_config_3/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ctu_cras_norlab_husky_sensor_config_3)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY config launch meshes materials urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS scripts/print_robot_urdf scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)

submitted_models/ctu_cras_norlab_husky_sensor_config_3/README.md

@@ -0,0 +1,28 @@
+# CTU\_CRAS\_NORLAB\_HUSKY\_SENSOR\_CONFIG\_3
+
+This package contains sensor config 3 of CTU-CRAS-Norlab Husky robot. The robot has:
+
+- Ouster OS0-128 lidar
+- An omnivision setup of 4 Basler Ace2 (a2A1920-51gcPRO) cameras with C125-0418-5M-P Basler Lens
+- LED strips
+- Xsens MTi-30 IMU
+- Weight: about 58 kg
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/robot.xacro` file and the files it includes. 
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited.
+
+There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc.
+
+The model is also configured by a set of shared config files located in `config/` directory. It contains YAML files which are loaded in the following order:
+
+- URDF: `common.yaml`, `urdf.yaml`
+- SDF for Ignition Gazebo: `common.yaml`, `sim.yaml`, `ign.yaml`
+- SDF for Gazebo Classic: `common.yaml`, `sim.yaml`, `gz.yaml`
+
+Sensor configuration 4 of Husky makes use of the robot model defined here, but uses customized configuration files to get the right sensor suite.

submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/common.yaml

@@ -0,0 +1,33 @@
+has_jetson: True
+has_basler_cameras: True
+has_ouster_lidar: True
+has_mote_deployer: False
+
+has_tower: True
+tower_j_x: 0.182
+tower_j_y: 0.123
+
+has_bullet: True
+bullet_parent_link: tower
+bullet_pos_x: -0.08
+bullet_pos_y: 0.15
+bullet_pos_z: 0.025
+bullet_antenna_rotation: 0.3
+
+has_mobilicom: True
+mobilicom_antenna_l_rotation: -1
+mobilicom_antenna_l_tilt: 0
+mobilicom_antenna_r_rotation: 1
+mobilicom_antenna_r_tilt: 0
+mobilicom_antennas_length: 0.1
+mobilicom_has_antenna_box: 0
+mobilicom_antennas_radius: 0.005
+mobilicom_is_lite: True
+mobilicom_parent_link: tower
+mobilicom_use_visual_mesh: True
+mobilicom_rpy_r: 3.141592
+mobilicom_rpy_p: -1.5758
+mobilicom_rpy_y: 0
+mobilicom_pos_x: 0.07
+mobilicom_pos_y: -0.04
+mobilicom_pos_z: 0.04

submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/gz.yaml

@@ -0,0 +1 @@
+rendering_target: gz

submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/ign.yaml

@@ -0,0 +1 @@
+rendering_target: ign