style: rename core_rover_description to core_description

src/astra_description/core_description/launch/display.launch.py

@@ -15,13 +15,13 @@ from launch_ros.parameter_descriptions import ParameterValue
 def generate_launch_description():
  
   # Set the path to this package.
-  pkg_share = FindPackageShare(package='core_rover_description').find('core_rover_description')
+  pkg_share = FindPackageShare(package='core_description').find('core_description')
  
   # Set the path to the RViz configuration settings
   default_rviz_config_path = os.path.join(pkg_share, 'config/rviz_basic_settings.rviz')
  
   # Set the path to the URDF file
-  default_urdf_model_path = os.path.join(pkg_share, 'urdf/core_rover_description.xacro')
+  default_urdf_model_path = os.path.join(pkg_share, 'urdf/core_description.xacro')
  
   ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############  
   # Launch configuration variables specific to simulation

src/astra_description/core_description/launch/robot_state_publisher.launch.py

@@ -13,7 +13,7 @@ from launch_ros.substitutions import FindPackageShare
 def generate_launch_description():
 
     # Set the path to this package.
-    pkg_share = FindPackageShare(package='core_rover_description').find('core_rover_description')
+    pkg_share = FindPackageShare(package='core_description').find('core_description')
 
     # Launch configuration variables specific to simulation
     urdf_model = LaunchConfiguration('urdf_model')
@@ -24,7 +24,7 @@ def generate_launch_description():
     # Declare the launch arguments
     declare_urdf_model_path_cmd = DeclareLaunchArgument(
         name='urdf_model',
-        default_value=os.path.join(pkg_share, 'urdf', 'core_rover_description.xacro'),
+        default_value=os.path.join(pkg_share, 'urdf', 'core_description.xacro'),
         description='Absolute path to robot urdf file')
 
     declare_rviz_config_file_cmd = DeclareLaunchArgument(

src/astra_description/core_description/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>core_rover_description</name>
+  <name>core_description</name>
   <version>1.0.0</version>
   <description>This package contains configuration data, 3D models and launch files for Clucky Core</description>
   <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>

src/astra_description/core_description/setup.py

@@ -2,7 +2,7 @@ from setuptools import find_packages, setup
 import os
 from glob import glob
 
-package_name = 'core_rover_description'
+package_name = 'core_description'
 
 list_of_folders = ["config", "launch", "meshes", "textures", "urdf"]
 

src/astra_description/core_description/urdf/core_description.csv

@@ -0,0 +1,9 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-6.65913085716885E-06,0.109571969438869,-0.0865730790907174,0,0,0,75.3855391061812,2.40019927956544,0.000116237424420155,-0.00156114013755156,2.05138658583389,0.00559155518698155,4.26537268155378,0,0,0,0,0,0,package://core_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/base_link.STL,,Shell & Averaging System-1/CSC Shell Assembly-1/CSC V4 Shell-1;Motor and 6 pin connector mount-2;Motor and 6 pin connector mount-1;Inside Motor and 6 pin connector mount plate-1;Shell & Averaging System-1/Diff Box Backing Plate V2-1;Shell & Averaging System-1/Averaging System Outer Plate Backing V1-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/L bracket-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorArm Bolts-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/Arm Bolts-1;Elec_Box_Assem-1/Box_Base-1;Elec_Box_Assem-1/Box_Left_Wall-1;Elec_Box_Assem-1/Box_Front_Wall-1;Elec_Box_Assem-1/Box_Right_Wall-1;Elec_Box_Assem-1/POE Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/Ethernet Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TOP_COVER_ASM_ASM_1_ASM_1.STP-1/AN_TOP_COVER_1_2.STP-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_ASM_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_NEW_1_1.STP-1;Elec_Box_Assem-1/SolidStateRelay-1;Elec_Box_Assem-1/100AFuse-1;Elec_Box_Assem-1/Box_Back_Wall-1;Rear_Wall_Sheath_Outer-2;Rear_Wall_Sheath_Outer-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorL bracket-1;Shell & Averaging System-1/Chasis C-Channel Lip-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-9;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-10;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-8;Shell & Averaging System-1/Averaging System Outer Plate V3-1;Shell & Averaging System-1/Diff V5 Assem-2/Diff Box V5-1;Shell & Averaging System-1/Averaging System Outer Plate V3-2;Shell & Averaging System-1/picatinny95mm-1;Shell & Averaging System-1/picatinny95mm-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-3;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-4;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-4;Shell & Averaging System-1/6436K14 .5 Shaft Collar-3;Shell & Averaging System-1/6436K14 .5 Shaft Collar-1;Rear_Wall_Sheath_Inner-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-2;Shell & Averaging System-1/Averaging Shaft V3-2;Shell & Averaging System-1/Averaging Shaft V3-3;Shell & Averaging System-1/Diff V5 Assem-2/2342K186_Bearing .5 shaft sealed-3;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-1;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+right_suspension_member,0.0011302,-0.12483,0.029359,0,0,0,1.7681,0.0021448,-1.4957E-06,-2.5225E-08,0.0068473,0.00021191,0.0058417,0,0,0,0,0,0,package://core_description/meshes/right_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_description/meshes/right_suspension_member.STL,,A- POST BOND SUSPENSION (1)-4/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-6/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-6/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-6/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Gearbox Casing-1;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;Gearbox-Wheel Assembly - MIRROR-7/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Bonding Tube-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-1,Origin_right_suspension_manual,right_suspension_axis,right_suspension_joint,revolute,-0.33067,0.028531,-0.15443,1.5708,0,-1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
+br_wheel,-0.0476013497459569,-1.09801088221673E-08,6.12845485470359E-09,0,0,0,5.74175792756056,0.115468209215025,7.19767266741869E-10,-2.90603405999934E-10,0.0647068246341468,7.16669744358495E-07,0.0632464587169257,0,0,0,0,0,0,package://core_description/meshes/br_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/br_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-7/Updated Wheel Starboard-1,Origin_br_wheel_axis,br_wheel_axis,br_wheel_axis,continuous,-0.41838,-0.17155,0.12984,0.52965,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
+fr_wheel,-0.0476013497450763,-1.09822306249008E-08,6.12913009234717E-09,0,0,0,5.74175792767292,0.115468209216444,7.20424942594475E-10,-2.90800382125705E-10,0.0647068246345494,7.16670201096685E-07,0.063246458718483,0,0,0,0,0,0,package://core_description/meshes/fr_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/fr_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-6/Updated Wheel Starboard-1,Origin_fr_wheel_joint,fr_wheel_axis,fr_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
+averaging_bar,5.12266309124314E-10,0.0103345512865068,6.28647148226413E-10,0,0,0,0.872230516841863,0.000102234478668288,1.26173058927933E-11,-1.00509715989169E-11,0.0236921798518964,1.54032135551904E-11,0.0236577000709469,0,0,0,0,0,0,package://core_description/meshes/averaging_bar.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/averaging_bar.STL,,A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Old Averaging Bar (Modified)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-1,Origin_averaging_bar_axis,averaging_bar_axis,averaging_bar_axis,revolute,0,-0.23362,-0.0508,0,-0.0060774,-3.1416,base_link,0,-1,0,0,0,-0.38,0.38,,,,,,,,
+left_suspension_member,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://core_description/meshes/left_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_description/meshes/left_suspension_member.STL,,A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-2/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-1/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-2/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-2/Bonding Tube-1;A- POST BOND SUSPENSION (1)-3/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-2,Origin_left_suspension_manual,left_suspension_axis,left_suspension_joint,revolute,0.33067,0.028531,-0.15443,1.5708,0,1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
+bl_wheel,-0.0476013497470983,-1.09827822947217E-08,6.12940226352165E-09,0,0,0,5.7417579274106,0.115468209213072,7.20585760708907E-10,-2.90859312873504E-10,0.0647068246335877,7.16669141063303E-07,0.0632464587148044,0,0,0,0,0,0,package://core_description/meshes/bl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/bl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-1/Updated Wheel Starboard-1,Origin_bl_wheel_joint,bl_wheel_axis,bl_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,left_suspension_member,1,0,0,,,,,,,,,,,,
+fl_wheel,-0.0476013497448114,-1.09827921201955E-08,6.12933048760311E-09,0,0,0,5.74175792770551,0.115468209216877,7.20541990109492E-10,-2.90874836866816E-10,0.0647068246346634,7.16670369639572E-07,0.06324645871897,0,0,0,0,0,0,package://core_description/meshes/fl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_description/meshes/fl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-2/Updated Wheel Starboard-1,Origin_fl_wheel_joint,fl_wheel_axis,fl_wheel_joint,continuous,-0.418377874454344,-0.171553199039643,0.129841324042317,0.529654981264331,-1.5707963267949,0,left_suspension_member,1,0,0,,,,,,,,,,,,

src/astra_description/core_description/urdf/core_rover.urdf

@@ -3,7 +3,7 @@
      Commit Version:   Build Version: 1.6.9403.28032
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="core_rover_description">
+  name="core_description">
 
   <link name="dummy_base_link"/>
 
@@ -36,7 +36,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/base_link.STL" />
+          filename="package://core_description/meshes/base_link.STL" />
       </geometry>
       <material
         name="">
@@ -50,7 +50,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/base_link.STL" />
+          filename="package://core_description/meshes/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -77,7 +77,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
+          filename="package://core_description/meshes/right_suspension_member.STL" />
       </geometry>
       <material
         name="">
@@ -91,7 +91,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
+          filename="package://core_description/meshes/right_suspension_member.STL" />
       </geometry>
     </collision>
   </link>
@@ -141,7 +141,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/br_wheel.STL" />
+          filename="package://core_description/meshes/br_wheel.STL" />
       </geometry>
       <material
         name="">
@@ -155,7 +155,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/br_wheel.STL" />
+          filename="package://core_description/meshes/br_wheel.STL" />
       </geometry>
     </collision>
   </link>
@@ -196,7 +196,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/fr_wheel.STL" />
+          filename="package://core_description/meshes/fr_wheel.STL" />
       </geometry>
       <material
         name="">
@@ -210,7 +210,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/fr_wheel.STL" />
+          filename="package://core_description/meshes/fr_wheel.STL" />
       </geometry>
     </collision>
   </link>
@@ -251,7 +251,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/averaging_bar.STL" />
+          filename="package://core_description/meshes/averaging_bar.STL" />
       </geometry>
       <material
         name="">
@@ -265,7 +265,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/averaging_bar.STL" />
+          filename="package://core_description/meshes/averaging_bar.STL" />
       </geometry>
     </collision>
   </link>
@@ -315,7 +315,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
+          filename="package://core_description/meshes/left_suspension_member.STL" />
       </geometry>
       <material
         name="">
@@ -329,7 +329,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
+          filename="package://core_description/meshes/left_suspension_member.STL" />
       </geometry>
     </collision>
   </link>
@@ -375,7 +375,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/bl_wheel.STL" />
+          filename="package://core_description/meshes/bl_wheel.STL" />
       </geometry>
       <material
         name="">
@@ -389,7 +389,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/bl_wheel.STL" />
+          filename="package://core_description/meshes/bl_wheel.STL" />
       </geometry>
     </collision>
   </link>
@@ -430,7 +430,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/fl_wheel.STL" />
+          filename="package://core_description/meshes/fl_wheel.STL" />
       </geometry>
       <material
         name="">
@@ -444,7 +444,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://core_rover_description/meshes/fl_wheel.STL" />
+          filename="package://core_description/meshes/fl_wheel.STL" />
       </geometry>
     </collision>
   </link>

src/astra_description/core_description/urdf/ros2_control.xacro

@@ -32,7 +32,7 @@
 
     <gazebo>
         <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-            <parameters>$(find core_rover_description)/config/ros2_controllers.yaml</parameters>
+            <parameters>$(find core_description)/config/ros2_controllers.yaml</parameters>
             <ros>
                 <remapping>/diff_controller/cmd_vel_unstamped:=/core/twist</remapping>
             </ros>

src/astra_description/core_gazebo/launch/core.gazebo.launch.py

@@ -30,7 +30,7 @@ def generate_launch_description():
     """
     # Constants for paths to different files and folders
     package_name_gazebo = 'core_gazebo'
-    package_name_description = 'core_rover_description'
+    package_name_description = 'core_description'
     # package_name_moveit = 'mycobot_moveit_config'
 
     default_robot_name = 'core_rover'

src/astra_description/core_rover_description/urdf/core_rover_description.csv

@@ -1,9 +0,0 @@
-Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
-base_link,-6.65913085716885E-06,0.109571969438869,-0.0865730790907174,0,0,0,75.3855391061812,2.40019927956544,0.000116237424420155,-0.00156114013755156,2.05138658583389,0.00559155518698155,4.26537268155378,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,,Shell & Averaging System-1/CSC Shell Assembly-1/CSC V4 Shell-1;Motor and 6 pin connector mount-2;Motor and 6 pin connector mount-1;Inside Motor and 6 pin connector mount plate-1;Shell & Averaging System-1/Diff Box Backing Plate V2-1;Shell & Averaging System-1/Averaging System Outer Plate Backing V1-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/L bracket-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorArm Bolts-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/Arm Bolts-1;Elec_Box_Assem-1/Box_Base-1;Elec_Box_Assem-1/Box_Left_Wall-1;Elec_Box_Assem-1/Box_Front_Wall-1;Elec_Box_Assem-1/Box_Right_Wall-1;Elec_Box_Assem-1/POE Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/Ethernet Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TOP_COVER_ASM_ASM_1_ASM_1.STP-1/AN_TOP_COVER_1_2.STP-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_ASM_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_NEW_1_1.STP-1;Elec_Box_Assem-1/SolidStateRelay-1;Elec_Box_Assem-1/100AFuse-1;Elec_Box_Assem-1/Box_Back_Wall-1;Rear_Wall_Sheath_Outer-2;Rear_Wall_Sheath_Outer-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorL bracket-1;Shell & Averaging System-1/Chasis C-Channel Lip-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-9;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-10;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-8;Shell & Averaging System-1/Averaging System Outer Plate V3-1;Shell & Averaging System-1/Diff V5 Assem-2/Diff Box V5-1;Shell & Averaging System-1/Averaging System Outer Plate V3-2;Shell & Averaging System-1/picatinny95mm-1;Shell & Averaging System-1/picatinny95mm-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-3;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-4;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-4;Shell & Averaging System-1/6436K14 .5 Shaft Collar-3;Shell & Averaging System-1/6436K14 .5 Shaft Collar-1;Rear_Wall_Sheath_Inner-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-2;Shell & Averaging System-1/Averaging Shaft V3-2;Shell & Averaging System-1/Averaging Shaft V3-3;Shell & Averaging System-1/Diff V5 Assem-2/2342K186_Bearing .5 shaft sealed-3;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-1;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
-right_suspension_member,0.0011302,-0.12483,0.029359,0,0,0,1.7681,0.0021448,-1.4957E-06,-2.5225E-08,0.0068473,0.00021191,0.0058417,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,,A- POST BOND SUSPENSION (1)-4/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-6/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-6/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-6/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Gearbox Casing-1;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;Gearbox-Wheel Assembly - MIRROR-7/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Bonding Tube-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-1,Origin_right_suspension_manual,right_suspension_axis,right_suspension_joint,revolute,-0.33067,0.028531,-0.15443,1.5708,0,-1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
-br_wheel,-0.0476013497459569,-1.09801088221673E-08,6.12845485470359E-09,0,0,0,5.74175792756056,0.115468209215025,7.19767266741869E-10,-2.90603405999934E-10,0.0647068246341468,7.16669744358495E-07,0.0632464587169257,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-7/Updated Wheel Starboard-1,Origin_br_wheel_axis,br_wheel_axis,br_wheel_axis,continuous,-0.41838,-0.17155,0.12984,0.52965,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
-fr_wheel,-0.0476013497450763,-1.09822306249008E-08,6.12913009234717E-09,0,0,0,5.74175792767292,0.115468209216444,7.20424942594475E-10,-2.90800382125705E-10,0.0647068246345494,7.16670201096685E-07,0.063246458718483,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-6/Updated Wheel Starboard-1,Origin_fr_wheel_joint,fr_wheel_axis,fr_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
-averaging_bar,5.12266309124314E-10,0.0103345512865068,6.28647148226413E-10,0,0,0,0.872230516841863,0.000102234478668288,1.26173058927933E-11,-1.00509715989169E-11,0.0236921798518964,1.54032135551904E-11,0.0236577000709469,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,,A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Old Averaging Bar (Modified)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-1,Origin_averaging_bar_axis,averaging_bar_axis,averaging_bar_axis,revolute,0,-0.23362,-0.0508,0,-0.0060774,-3.1416,base_link,0,-1,0,0,0,-0.38,0.38,,,,,,,,
-left_suspension_member,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,,A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-2/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-1/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-2/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-2/Bonding Tube-1;A- POST BOND SUSPENSION (1)-3/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-2,Origin_left_suspension_manual,left_suspension_axis,left_suspension_joint,revolute,0.33067,0.028531,-0.15443,1.5708,0,1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
-bl_wheel,-0.0476013497470983,-1.09827822947217E-08,6.12940226352165E-09,0,0,0,5.7417579274106,0.115468209213072,7.20585760708907E-10,-2.90859312873504E-10,0.0647068246335877,7.16669141063303E-07,0.0632464587148044,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-1/Updated Wheel Starboard-1,Origin_bl_wheel_joint,bl_wheel_axis,bl_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,left_suspension_member,1,0,0,,,,,,,,,,,,
-fl_wheel,-0.0476013497448114,-1.09827921201955E-08,6.12933048760311E-09,0,0,0,5.74175792770551,0.115468209216877,7.20541990109492E-10,-2.90874836866816E-10,0.0647068246346634,7.16670369639572E-07,0.06324645871897,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-2/Updated Wheel Starboard-1,Origin_fl_wheel_joint,fl_wheel_axis,fl_wheel_joint,continuous,-0.418377874454344,-0.171553199039643,0.129841324042317,0.529654981264331,-1.5707963267949,0,left_suspension_member,1,0,0,,,,,,,,,,,,