added original package files

AUVSL · Nov 2, 2023 · a525625 · a525625
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diff --git a/ReadMe.md b/ReadMe.md
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+### ReadMe
+
+Using keyboard to control the vehicle
+
+```
+roslaunch r_gator_launch r_gator_highbay.launch
+```
+
diff --git a/images/Polaris_GEM_e2.png b/images/Polaris_GEM_e2.png
diff --git a/images/example_gazebo.png b/images/example_gazebo.png
diff --git a/images/example_rviz.png b/images/example_rviz.png
diff --git a/images/highbay_gazebo.png b/images/highbay_gazebo.png
diff --git a/images/highbay_rviz.png b/images/highbay_rviz.png
diff --git a/images/pp_controller.gif b/images/pp_controller.gif
diff --git a/images/simple_track_gazebo.png b/images/simple_track_gazebo.png
diff --git a/images/simple_track_rviz.png b/images/simple_track_rviz.png
diff --git a/images/stanley_controller_gazebo.gif b/images/stanley_controller_gazebo.gif
diff --git a/images/stanley_controller_rviz.gif b/images/stanley_controller_rviz.gif
diff --git a/images/track2_gazebo.png b/images/track2_gazebo.png
diff --git a/r_gator_simulator/r_gator_description/CMakeLists.txt b/r_gator_simulator/r_gator_description/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(r_gator_description)
+
+find_package(roslaunch)
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch urdf meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/r_gator_simulator/r_gator_description/LICENSE b/r_gator_simulator/r_gator_description/LICENSE
@@ -0,0 +1,27 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2018-2025, Center for Autonomy (University of Illinois at Urbana-Champaign).
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of Dataspeed Inc. nor the names of its
+      contributors may be used to endorse or promote products derived from this
+      software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/r_gator_simulator/r_gator_description/launch/r_gator_description.launch b/r_gator_simulator/r_gator_description/launch/r_gator_description.launch
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<launch>
+
+  <arg name="namespace" default="/"/>
+
+  <group ns="$(arg namespace)">
+
+    <!-- robot_description is used by nodes that publish to joint_states. -->
+    <!-- <param name="robot_description" command="$(find xacro)/xacro '$(find gem_description)/urdf/gem.urdf.xacro'"/> -->
+    <param name="robot_description" command="$(find xacro)/xacro '$(find rgator_model)/urdf/rgator_model.urdf.xacro'"/>
+
+    <!-- Read joint positions from joint_states, then publish the vehicle's state to tf. -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
+      <param name="publish_frequency" type="double" value="30.0" />
+    </node>
+
+  </group>
+
+</launch>
diff --git a/r_gator_simulator/r_gator_description/meshes/base_link.STL b/r_gator_simulator/r_gator_description/meshes/base_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/chair_link.STL b/r_gator_simulator/r_gator_description/meshes/chair_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/door_link.STL b/r_gator_simulator/r_gator_description/meshes/door_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_camera_link.STL b/r_gator_simulator/r_gator_description/meshes/front_camera_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_left_emergency_button_link.STL b/r_gator_simulator/r_gator_description/meshes/front_left_emergency_button_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_left_head_light_link.STL b/r_gator_simulator/r_gator_description/meshes/front_left_head_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_left_turn_light_link.STL b/r_gator_simulator/r_gator_description/meshes/front_left_turn_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_left_wheel_link.STL b/r_gator_simulator/r_gator_description/meshes/front_left_wheel_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_rack_link.STL b/r_gator_simulator/r_gator_description/meshes/front_rack_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_right_emergency_button_link.STL b/r_gator_simulator/r_gator_description/meshes/front_right_emergency_button_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_right_head_light_link.STL b/r_gator_simulator/r_gator_description/meshes/front_right_head_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_right_turn_light_link.STL b/r_gator_simulator/r_gator_description/meshes/front_right_turn_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/front_right_wheel_link.STL b/r_gator_simulator/r_gator_description/meshes/front_right_wheel_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/left_I_link.STL b/r_gator_simulator/r_gator_description/meshes/left_I_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/left_antenna_link.STL b/r_gator_simulator/r_gator_description/meshes/left_antenna_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/left_blue_outer_link.STL b/r_gator_simulator/r_gator_description/meshes/left_blue_outer_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/left_fixed_hinge_link.STL b/r_gator_simulator/r_gator_description/meshes/left_fixed_hinge_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/left_steering_hinge_link.STL b/r_gator_simulator/r_gator_description/meshes/left_steering_hinge_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_left_emergency_button_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_left_emergency_button_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_left_light_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_left_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_left_stop_light_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_left_stop_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_left_wheel_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_left_wheel_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_light_bar_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_light_bar_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_rack_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_rack_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_right_emergency_button_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_right_emergency_button_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_right_light_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_right_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_right_stop_light_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_right_stop_light_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/rear_right_wheel_link.STL b/r_gator_simulator/r_gator_description/meshes/rear_right_wheel_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/right_I_link.STL b/r_gator_simulator/r_gator_description/meshes/right_I_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/right_antenna_link.STL b/r_gator_simulator/r_gator_description/meshes/right_antenna_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/right_blue_outer_link.STL b/r_gator_simulator/r_gator_description/meshes/right_blue_outer_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/right_fixed_hinge_link.STL b/r_gator_simulator/r_gator_description/meshes/right_fixed_hinge_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/right_steering_hinge_link.STL b/r_gator_simulator/r_gator_description/meshes/right_steering_hinge_link.STL
diff --git a/r_gator_simulator/r_gator_description/meshes/top_rack_link.STL b/r_gator_simulator/r_gator_description/meshes/top_rack_link.STL
diff --git a/r_gator_simulator/r_gator_description/package.xml b/r_gator_simulator/r_gator_description/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>r_gator_description</name>
+  <version>1.0.0</version>
+  <description>The gem_description is the description of gem vehicle</description>
+  <author email="hangcui1201@gmail.com">Hang Cui</author>
+  <maintainer email="hangcui1201@gmail.com"> Hang Cui </maintainer>
+  <url type="repository">https://github.com/hangcui1201/POLARIS_GEM_e2_Simulator.git</url>
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roslaunch</depend>
+  <depend>rviz</depend>
+  <depend>gazebo_ros</depend>
+  <depend>xacro</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>gazebo_ros_control</depend>
+  <depend>hardware_interface</depend>
+  <depend>transmission_interface</depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>