From f2bf98eb59ae3e6fdcf543e346f8681dbf0a39af Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20PORTAY?= Date: Fri, 28 Mar 2025 12:02:07 +0100 Subject: [PATCH 1/5] aruco_detection.world: remove my_mesh model tag This removes the unused model tag my_mesh in the world aruco_detection that was introduced by the commit 94caa40 (feat: added a world with a simple aruco) as the mesh uri has never been added since then. --- src/robot_description/worlds/aruco_detection.world | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/src/robot_description/worlds/aruco_detection.world b/src/robot_description/worlds/aruco_detection.world index 7456a41..735e6b1 100644 --- a/src/robot_description/worlds/aruco_detection.world +++ b/src/robot_description/worlds/aruco_detection.world @@ -9,17 +9,5 @@ model://sun - - - 2.0 0 1.0 0 0 0 - true - - - - src/robot_description/models/marker0/meshes/Marker0.dae - - - - From 137acd2d3df55bbf5c6e9e9aaba16d331104e021 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20PORTAY?= Date: Fri, 28 Mar 2025 12:12:28 +0100 Subject: [PATCH 2/5] robot_description: restore URI to .dae of mesh tags This restores the model's URIs to the .dae files in mesh tags. This reverts partially commit c1dc2dce73b9203b493e2202fb9d981c7dd2db81. --- src/robot_description/models/aruco_block_long/model.sdf | 4 ++-- .../models/checkerboard/checkerboard_plane.sdf | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/robot_description/models/aruco_block_long/model.sdf b/src/robot_description/models/aruco_block_long/model.sdf index e8dea97..34b461b 100755 --- a/src/robot_description/models/aruco_block_long/model.sdf +++ b/src/robot_description/models/aruco_block_long/model.sdf @@ -18,7 +18,7 @@ 1 1 1 - model://aruco_block_long + model://aruco_block_long/meshes/block_long.dae @@ -34,7 +34,7 @@ 1 1 1 - model://aruco_block_long + model://aruco_block_long/meshes/block_long.dae diff --git a/src/robot_description/models/checkerboard/checkerboard_plane.sdf b/src/robot_description/models/checkerboard/checkerboard_plane.sdf index abdd3c5..014b9e1 100644 --- a/src/robot_description/models/checkerboard/checkerboard_plane.sdf +++ b/src/robot_description/models/checkerboard/checkerboard_plane.sdf @@ -7,7 +7,7 @@ 0.3 0.3 0.3 - model://checkerboard_plane + model://checkerboard_plane/meshes/checkerboard_plane.dae From a9b7c606acc210ec34bbb4c26dd17e5a10ca32d3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20PORTAY?= Date: Fri, 28 Mar 2025 12:27:44 +0100 Subject: [PATCH 3/5] checkerboard: remove model This removes the model checkboard as it seems to be unused. --- .../checkerboard/checkerboard_plane.sdf | 16 --- .../materials/textures/checker.png | Bin 17270 -> 0 bytes .../meshes/checkerboard_plane.dae | 126 ------------------ .../models/checkerboard/model.config | 16 --- 4 files changed, 158 deletions(-) delete mode 100644 src/robot_description/models/checkerboard/checkerboard_plane.sdf delete mode 100644 src/robot_description/models/checkerboard/materials/textures/checker.png delete mode 100644 src/robot_description/models/checkerboard/meshes/checkerboard_plane.dae delete mode 100644 src/robot_description/models/checkerboard/model.config diff --git a/src/robot_description/models/checkerboard/checkerboard_plane.sdf b/src/robot_description/models/checkerboard/checkerboard_plane.sdf deleted file mode 100644 index 014b9e1..0000000 --- a/src/robot_description/models/checkerboard/checkerboard_plane.sdf +++ /dev/null @@ -1,16 +0,0 @@ - - - - true - - - - - 0.3 0.3 0.3 - model://checkerboard_plane/meshes/checkerboard_plane.dae - - - - - - \ No newline at end of file diff --git a/src/robot_description/models/checkerboard/materials/textures/checker.png b/src/robot_description/models/checkerboard/materials/textures/checker.png deleted file mode 100644 index 2e37021462ade27c8be2e75e24f2f13a249413fc..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 17270 zcmeI4Ur19?9LLY}*8a3*OQUI0S5_?OMS8G3RC8@(TcAitCiI}zay`sNyIB#ntAnIB zq3EFoy+shD{eh$>r9TG6=%t)1@kRtf%SM4N#;%>S+OD)Y_lcB~y2r>D6?gNDA=vN)ll~J?jsk@sR{Rv-tgpf6r?9h;FaSJ`EmHbT} z?R!C}GH(mM8~Q{~RZE^jk}Dhv1$rdnIvMDc0!PKu$EBd?^*6P&^{w4Vh)DcyXX}|% z`t6u$wBGn+_)+dlI$d|!YMJ?1C-u(9ZXbJQw!cu1ER3nKyf#-cwSz=07!xWsh;4&cBDEQL$K-iZw(In7IZS@&c#?MOz47dmK} z!gbvNP``jeJ*FTCOd#+J_yzg%^;+d_Si6fnrsZQLKX7nvWYB84_0?Vle}ljM1OArK zXD1uH%CuJ5ttrMBvHZZ!C?DO%L2ikYZPCz=pyzhoR&H?tI4}ax1J?mKfCD3dd6Mg3 z8E~kNhkA;=02r4NuH#b;ZOU|ok}zkl=Er|-i9EoTNWnKy0_Rf%IDi8qfQ*{!035)9 z5m?#^K!v*?2yrGZ-v~tn^*l*b%Di2ZZH#RHrsaZJ2C*jM%M!+yE3g!mNj{8ik~=M{ zyE3Y4$GOAL&BoTVwFXqtxCes+I4}aJqH!I7L+LrZ3Po0_c`{qu7e?a+8Wxd_aTf#! za9{+Gm2w?`12`}OzkjX+Ef$OuQaeTg9FWp*9e~5%;E+^@CI~4@viAb;`=hZ994LVm xu{>o`_sgs4pOu~JoB8a1>&3-)Qy3R3;TD6fG5opxb=OTcrhZSe`_8_O{vWZs)z1I` diff --git a/src/robot_description/models/checkerboard/meshes/checkerboard_plane.dae b/src/robot_description/models/checkerboard/meshes/checkerboard_plane.dae deleted file mode 100644 index e85746a..0000000 --- a/src/robot_description/models/checkerboard/meshes/checkerboard_plane.dae +++ /dev/null @@ -1,126 +0,0 @@ - - - - - Blender User - Blender 2.78.0 - - 2017-04-04T15:56:25 - 2017-04-04T15:56:25 - - Z_UP - - - - checker.png - - - - - - - - checker_png - - - - - checker_png-surface - - - - - - 1 1 1 1 - - - 1 1 1 1 - - - - - - 0 0 0 1 - - - 50 - - - 1 - - - - - - - - - - - - - - - - -1 -1 0 1 -1 0 -1 1 0 1 1 0 - - - - - - - - - - 0 0 1 - - - - - - - - - - 0.9999001 9.998e-5 9.998e-5 0.9999001 1.0004e-4 9.998e-5 0.9999001 9.998e-5 0.9999001 0.9999001 9.998e-5 0.9999001 - - - - - - - - - - - - - - - 3 3 -

1 0 0 2 0 1 0 0 2 1 0 3 3 0 4 2 0 5

- - - - - - - - - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robot_description/models/checkerboard/model.config b/src/robot_description/models/checkerboard/model.config deleted file mode 100644 index 58b0f1d..0000000 --- a/src/robot_description/models/checkerboard/model.config +++ /dev/null @@ -1,16 +0,0 @@ - - - - Checkerboard Plane - 1.0 - checkerboard_plane.sdf - - - Adam Allevato - adam.d.allevato@gmail.com - - - - A plane with a reference checkerboard texture on it, used to validate and calibrate camera models. The checkerboard is 8x8 squares (like a standard checkerboard), and measures 2m on each side. - - From 4a213d089609183ebe24b7ffdd12ea1639100d6e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20PORTAY?= Date: Fri, 28 Mar 2025 12:30:10 +0100 Subject: [PATCH 4/5] aruco_block_long: remove model This removes the model aruco_block_long as it seems to be unused. Revert "robot_description: install models" This reverts entirely commit c1dc2dce73b9203b493e2202fb9d981c7dd2db81. This reverts partially commit b7cba55290f47a532c9cbe8e39a5076bab984032. --- src/robot_description/CMakeLists.txt | 2 +- .../aruco_block_long/meshes/Block_Long.png | Bin 8484 -> 0 bytes .../aruco_block_long/meshes/block_long.dae | 144 ------------------ .../aruco_block_long/meshes/block_long.stl | Bin 2284 -> 0 bytes .../models/aruco_block_long/model.config | 16 -- .../models/aruco_block_long/model.sdf | 43 ------ src/robot_description/package.xml | 1 - 7 files changed, 1 insertion(+), 205 deletions(-) delete mode 100755 src/robot_description/models/aruco_block_long/meshes/Block_Long.png delete mode 100755 src/robot_description/models/aruco_block_long/meshes/block_long.dae delete mode 100755 src/robot_description/models/aruco_block_long/meshes/block_long.stl delete mode 100755 src/robot_description/models/aruco_block_long/model.config delete mode 100755 src/robot_description/models/aruco_block_long/model.sdf diff --git a/src/robot_description/CMakeLists.txt b/src/robot_description/CMakeLists.txt index 8f1cd2e..b6ac566 100644 --- a/src/robot_description/CMakeLists.txt +++ b/src/robot_description/CMakeLists.txt @@ -12,7 +12,7 @@ find_package(ros2_controllers REQUIRED) # This will bring in joint_state_contro find_package(robot_state_publisher REQUIRED) # Install directories -install(DIRECTORY launch urdf meshes config worlds media models +install(DIRECTORY launch urdf meshes config worlds media DESTINATION share/${PROJECT_NAME}/ ) diff --git a/src/robot_description/models/aruco_block_long/meshes/Block_Long.png b/src/robot_description/models/aruco_block_long/meshes/Block_Long.png deleted file mode 100755 index afbd322e92bca6ed9c61add0803b7bbdc018fa49..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 8484 zcmeHNdr(tX8b6`Y!3! zTSf5!v9-dsVgOMAsY#@oD6cGyfI%WJAwmKn1d?3x+H<7stTWx&X=k?68S_WZJ@=k_ zPrjV{{eIu?`%aGkEh=Kh^tY!20A{RNy>dMO&amqYrcQ#6`C2R0(E^DYtm1{K{Mg9PE7TOh_ zF}9I2BF}^Bs}@5%yhoSi3$9$bLXf|~o7+3hvAPbwdJ$@r zs1r6>>;4L-9uk^|7*FqiuDkzk&S!q?E*E{en>tNoR+^eiH~}22 zj+&jKYK)ACK9z1ZG{`!Pja|_XKi&0yHO9aFmwHJO*Zdfh1K$Dw#MfQ}lsuO9c3K$r z^kliq5yt4VCPqiPF%nvv=_d>-fLagB+tyi5DNnP~RN4*X@Bks!kd&>gP9qaaJsS(c zS?Yl9qwd?^)PARLyk7GT#F#Gu$2)pfIZU#S%6sk}f4wKBW4y(5*N3?HYUzBEO_w7r zmk~pSW~DZpZ`IJ`AG+-_JhSV1q$<^LS)5b?=PaB}nOQ{Ud;5?JF63+|ippAhW+Alc z3uN+0Oq+uq9TCH6(_Z?yzG-T;IxaCWu`TX%!;mu6o24n!jg@fI!)&IWxDH{ue0pZ` z_-MZ_lWN&X+|I#z`{!pSYi}E~{nGo_>YpQM0-QCc7sN;)%q0<|@uo7Cac@V5>m5x% z_tOU_^^Ads-!S@rxEz0U)roB(%4@f7-FiO~M_KO#T$WT{w708>OTF2{cd)#{a*BtC zN6$!aT~BQ;K_8rX3h5cZ#PL9V*}05zPwer-)Fey_;Ini9s(7s4Rb1`IEe@U1VCxAGjQ8uIHuKX zd#GrsF3L1MyOfh%RB&jIXZWH0w!Dzc12zk$Yfq77;Vqq0dN36q51FC^+P1@BvTNd2 zNVB~>$Pm=bXJ2N#U@=(xajJfQ_ub#Hq3>>_Z9Gv|0 zK6A7wLb_Qr-pqLRuP+gFyK0Uy`s&Xz5T?x?b`G6RUq|q*$@U7BxQk5pu;4Hc*RWyn z^_s8h8V%JOqr7MR-cAHKi zvbOHFXO;eUQ@J(2%$mc5QbvqLwjj#tc@NXTM$+h(0`I{(j;5rR?w+r5Yv968` zcyq6@j6)2gGEFAkmZl7VI>9jbcq!42$#M`Dk-KZ!t5UY?c=aY-k*xLN#d|C1Tl7chNjXrigFtCwcVt>P&aZCzB3P1qbLYbqqAzcTq0-W zB>%GsJ+)r*L;vaK=H}e^>EbV517Mz$I71BuY0qFqhj)??>tn*2p5$Jpd(mvSUJIu0 zQIYHz+tRmG^wwsIDNj#DuGHZ{zxJytp z*nY4#SJ#$M(s0Qo6DGbW8u5;U;jTlf{4@!fJ1*BE^+o5FZ7aJSaB zIcXz_KB0U;-c*1WC{#`4{E&dCg0Nsbl!yhJVyhr7dFeaM#Y4B$0;rTw?#9&JbC>F6BoYV8sBFl$QH0X1 zJI_Q_6#rDC0br4$I!zk{V-eev$YvrT2f-B>7$`ZrgeF<*ciSIda@)`biFy?hGcY8a zgo3h>@AOE-wX^B45)N-i37pNMBFU00RIYW5q3gaEKk0PlL;?op5eNj7_*F>g{Cj7u zl~t*OZ78c`Pe9k#{YQ`iHb6kArJ};fi)rl3{??Zv?7x&tGU4yT^-E-*p~PP94a8IQ zH7^ V$)-y71Nfz2&8n!Cf)%l!{u^>{!PWo( diff --git a/src/robot_description/models/aruco_block_long/meshes/block_long.dae b/src/robot_description/models/aruco_block_long/meshes/block_long.dae deleted file mode 100755 index e0f3fad..0000000 --- a/src/robot_description/models/aruco_block_long/meshes/block_long.dae +++ /dev/null @@ -1,144 +0,0 @@ - - - - - Blender User - Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e - - 2022-01-26T22:08:27 - 2022-01-26T22:08:27 - - Z_UP - - - - - - - Block_Long_png - - - - - Block_Long_png-surface - - - - - - 0 0 0 1 - - - - - - 1.45 - - - - - - - - - - - 0 0 0 1 - - - 0.8 0.8 0.8 1 - - - 1.45 - - - - - - - - - Block_Long.png - - - - - - - - - - - - - - - -55 -18 25 -55 -18 -25 55 -18 25 55 -18 -25 -55 -35 25 55 -35 25 -55 -35 -25 55 -35 -25 -55 18 -25 -55 18 25 55 18 -25 55 18 25 -55 35 -25 55 35 -25 -55 35 25 55 35 25 55 -35 35 -55 -35 35 -55 -35 -35 -55 35 -35 -55 35 35 55 35 35 55 -35 -35 55 35 -35 - - - - - - - - - - 0 -1 0 0 0 -1 0 0 1 0 1 0 -1 0 0 1 0 0 - - - - - - - - - - 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 7.97597e-5 0.9999202 7.97597e-5 7.97597e-5 0.636342 0.9999202 0.636342 0.9999202 7.97597e-5 7.97597e-5 0.636342 7.97944e-5 0 0 1 0 1 1 0 0 1 0 1 1 - - - - - - - - - - - - - - -

21 2 120 20 2 121 16 2 122 16 2 123 20 2 124 17 2 125

- - - - - -

0 0 0 1 0 1 2 0 2 2 0 3 1 0 4 3 0 5 4 1 6 0 1 7 5 1 8 5 1 9 0 1 10 2 1 11 1 2 12 6 2 13 3 2 14 3 2 15 6 2 16 7 2 17 8 3 18 9 3 19 10 3 20 10 3 21 9 3 22 11 3 23 12 2 24 8 2 25 13 2 26 13 2 27 8 2 28 10 2 29 9 1 30 14 1 31 11 1 32 11 1 33 14 1 34 15 1 35 5 0 36 16 0 37 4 0 38 4 0 39 16 0 40 17 0 41 6 4 42 1 4 43 18 4 44 18 4 45 1 4 46 8 4 47 18 4 48 8 4 49 19 4 50 19 4 51 8 4 52 12 4 53 1 4 54 0 4 55 8 4 56 8 4 57 0 4 58 9 4 59 9 4 60 0 4 61 17 4 62 9 4 63 17 4 64 20 4 65 0 4 66 4 4 67 17 4 68 20 4 69 14 4 70 9 4 71 5 5 72 2 5 73 16 5 74 16 5 75 2 5 76 11 5 77 16 5 78 11 5 79 21 5 80 21 5 81 11 5 82 15 5 83 2 5 84 3 5 85 11 5 86 11 5 87 3 5 88 10 5 89 10 5 90 3 5 91 22 5 92 10 5 93 22 5 94 23 5 95 3 5 96 7 5 97 22 5 98 23 5 99 13 5 100 10 5 101 13 3 102 23 3 103 12 3 104 12 3 105 23 3 106 19 3 107 6 0 108 18 0 109 7 0 110 7 0 111 18 0 112 22 0 113 19 1 114 23 1 115 18 1 116 18 1 117 23 1 118 22 1 119 14 3 126 20 3 127 15 3 128 15 3 129 20 3 130 21 3 131

- - - - - - - - 0.001 0 0 0 0 0.001 0 0 0 0 0.001 0 0 0 0 1 - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/src/robot_description/models/aruco_block_long/meshes/block_long.stl b/src/robot_description/models/aruco_block_long/meshes/block_long.stl deleted file mode 100755 index a9f6282ba5225fb3364973c0caca120e8c71ec62..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2284 zcmb7_QAz_b7=(KRudt66R74Pc*rgzdm+(bteNrp6f^YT?9>fdm(hJlx)y(9d@Mp7I zu&{0T^M9F{WJ7O1-ONXlZQpUcr^loMUtv&3Zv#-BAKGh`2sRZY}Ij7c#Zl zH>`wbn7~Y*@OxEiI3k^9s4>@|24_qoBjB(kymuROr^j7s#^vw?PcYA6gu1X-93vaD zOeVVH@aMc|U8q~~f%EX*v2Lj`aDvz?y%~)Nx#eE*{+TQ8taa%I!y)T2N6;t;)5wU! z8jipTN`r0(T`7mZE3APo3Aa~r)gs5ZE6rFJPS6way~>gsp{_)PY#kn+`6!_-+g)Ud zH>yu$>&lhrGI^NcT3T0x+=9R-o?^et(a3-|hRHJ`&4`AZFlHTN3P59vkuot{8tNA%%&S - - - aruco_block_long - 1.0 - model.sdf - - - My - omar.sossi-alaoui@rtone.fr - - - - A block. - - diff --git a/src/robot_description/models/aruco_block_long/model.sdf b/src/robot_description/models/aruco_block_long/model.sdf deleted file mode 100755 index 34b461b..0000000 --- a/src/robot_description/models/aruco_block_long/model.sdf +++ /dev/null @@ -1,43 +0,0 @@ - - - - false - - - 0.349 - - 1.45e-4 - 0.0 - 0.0 - 1.45e-4 - 0.0 - 1.45e-4 - - - - - - 1 1 1 - model://aruco_block_long/meshes/block_long.dae - - - - - - 1.2 - 1.2 - - - - - - - - 1 1 1 - model://aruco_block_long/meshes/block_long.dae - - - - - - diff --git a/src/robot_description/package.xml b/src/robot_description/package.xml index 2dc8a57..a98d593 100644 --- a/src/robot_description/package.xml +++ b/src/robot_description/package.xml @@ -24,7 +24,6 @@ ament_cmake - From ed325f981f1f509c77a5e9b3720a7dc2828b81ce Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ga=C3=ABl=20PORTAY?= Date: Fri, 28 Mar 2025 14:34:34 +0100 Subject: [PATCH 5/5] aruco_detection: remove unused world This removes the unused world aruco_detection. --- src/robot_description/worlds/aruco_detection.world | 13 ------------- 1 file changed, 13 deletions(-) delete mode 100644 src/robot_description/worlds/aruco_detection.world diff --git a/src/robot_description/worlds/aruco_detection.world b/src/robot_description/worlds/aruco_detection.world deleted file mode 100644 index 735e6b1..0000000 --- a/src/robot_description/worlds/aruco_detection.world +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - model://ground_plane - - - - model://sun - - -