Merge branch 'master' into hack/force_sensor

README.md

@@ -37,7 +37,7 @@ Installation Instructions - Ubuntu 16.04 with ROS Kinetic
  $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list'
  $ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
  $ sudo apt-get update
- $ sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox
+ $ sudo apt-get install ros-kinetic-desktop-full ros-kinetic-joy ros-kinetic-octomap-ros ros-kinetic-mavlink python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev ros-kinetic-control-toolbox ros-kinetic-mavros
  $ sudo rosdep init
  $ rosdep update
  $ source /opt/ros/kinetic/setup.bash

rotors_demos.rosinstall

@@ -1,5 +1,4 @@
 - git: {local-name: asctec_mav_framework, uri: 'https://github.com/ethz-asl/asctec_mav_framework.git'}
 - git: {local-name: ethzasl_msf, uri: 'https://github.com/ethz-asl/ethzasl_msf.git'}
 - git: {local-name: mav_comm, uri: 'https://github.com/ethz-asl/mav_comm.git'}
-- git: {local-name: rotors_simulator, uri: 'https://github.com/ethz-asl/rotors_simulator.git'}
 - git: {local-name: rotors_simulator_demos, uri: 'https://github.com/ethz-asl/rotors_simulator_demos.git'}

rotors_description/urdf/component_snippets.xacro

@@ -20,7 +20,6 @@
 -->
 
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:property name="pi" value="3.14159265359" />
 
   <!-- Macro to add logging to a bag file. -->
   <xacro:macro name="bag_plugin_macro"

rotors_description/urdf/pmd_monstar.xacro

@@ -2,14 +2,6 @@
 <robot name="$(arg mav_name)" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find rotors_description)/urdf/component_snippets.xacro" />
 
-  <!-- Note that whenever possible, values from Realsense D435 were used.
-       See Intel Document 337029-004: Intel RealSense TM D400 Series Product Family Datasheet.
-       https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Intel-RealSense-D400-Series-Datasheet.pdf
-
-       Here, RGBD camera baselink frame corresponds to the left IR camera center, which is also the camera
-       the sensor is calibrated to in real life and the point cloud is registered to.
-  -->
-
   <link name="rgbd_camera/base_link">
     <collision>
       <origin xyz="0 -0.0175 0" rpy="0 0 0" />
@@ -35,7 +27,6 @@
 
 </joint>
 
-
 
 <!-- Define Macro to add a depth camera using noisy depth plugin  -->
   <xacro:macro name="rgbd_sensor_depth_macro"
@@ -71,7 +62,7 @@
     <!-- Call rgb sensor macro-->
 
     <gazebo reference="${namespace}/camera_${camera_suffix}_link">
-      <sensor type="depth" name="${namespace}_camera_{camera_suffix}">
+      <sensor type="depth" name="${namespace}_camera_${camera_suffix}">
         <always_on>true</always_on>
         <update_rate>${frame_rate}</update_rate>
         <camera>
@@ -86,7 +77,7 @@
             <far>${max_range}</far>
           </clip>
         </camera>
-        <plugin name="${namespace}_camera_{camera_suffix}" filename="librotors_gazebo_noisydepth_plugin.so">
+        <plugin name="${namespace}_camera_${camera_suffix}" filename="librotors_gazebo_noisydepth_plugin.so">
           <robotNamespace>${namespace}</robotNamespace>
           <alwaysOn>true</alwaysOn>
           <baseline>${baseline}</baseline>
@@ -153,13 +144,6 @@
 
   </xacro:macro>
 
-  <!-- Call depth sensor macro
-    Realsense values -
-      91.2 Deg Horizontal FOV
-      848x480 Optimal depth resolution
-        w 195 mm minimium-z depth
-      5 cm baseline.
-  -->
   <xacro:rgbd_sensor_depth_macro
     namespace="${namespace}/rgbd" parent_link="rgbd_camera/base_link_gazebo"
     camera_suffix="depth"

rotors_gazebo/CMakeLists.txt

@@ -10,6 +10,7 @@ add_definitions(-std=c++11)
 # We need Gazebo version >= 3.0.0 to generate iris.sdf file
 # (gz sdf ... command needs to be available)
 find_package(gazebo REQUIRED)
+find_package(PythonInterp REQUIRED)
 
 if(${gazebo_VERSION_MAJOR} GREATER 2)
     message(STATUS "Building iris.sdf.")
@@ -26,7 +27,7 @@ if(${gazebo_VERSION_MAJOR} GREATER 2)
     add_custom_command(OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
       WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
       COMMAND rm -f ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
-      COMMAND python ${scripts_dir}/xacro.py -o  ${rotors_description_dir}/urdf/iris_base.urdf  ${rotors_description_dir}/urdf/iris_base.xacro enable_mavlink_interface:=${enable_mavlink_interface} enable_ground_truth:=${enable_ground_truth} enable_wind:=${enable_wind} enable_logging:=${enable_logging} rotors_description_dir:=${rotors_description_dir}
+      COMMAND ${PYTHON_EXECUTABLE} ${scripts_dir}/xacro.py -o  ${rotors_description_dir}/urdf/iris_base.urdf  ${rotors_description_dir}/urdf/iris_base.xacro enable_mavlink_interface:=${enable_mavlink_interface} enable_ground_truth:=${enable_ground_truth} enable_wind:=${enable_wind} enable_logging:=${enable_logging} rotors_description_dir:=${rotors_description_dir}
       COMMAND gz sdf -p  ${rotors_description_dir}/urdf/iris_base.urdf >> ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
       COMMAND rm -f ${rotors_description_dir}/urdf/iris_base.urdf
       DEPENDS ${rotors_description_dir}/urdf/iris.xacro