move plug and socket models out of legacy. remove uuv_mating package …

…in legacy Signed-off-by: Mabel Zhang <[email protected]>
mikemacg10 · Aug 14, 2021 · c822456 · c822456
1 parent 39107c7
commit c822456
Show file tree

Hide file tree

Showing 9 changed files with 9 additions and 96 deletions.
diff --git a/examples/dave_demo_launch/launch/uuv_dave_electrical_mate.launch b/examples/dave_demo_launch/launch/uuv_dave_electrical_mate.launch
@@ -34,8 +34,6 @@
         <arg name="yaw" value="3.141592"/>
     </include>
 
-
-
     <include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
         <arg name="uuv_name" value="rexrov" />
         <arg name="model_name" value="rexrov" />

diff --git a/legacy/uuv_mating/CMakeLists.txt b/legacy/uuv_mating/CMakeLists.txt
diff --git a/legacy/uuv_mating/package.xml b/legacy/uuv_mating/package.xml
diff --git a/legacy/uuv_mating/models/Inner-Plug.png → ...ls/plug/materials/textures/Inner-Plug.png b/legacy/uuv_mating/models/Inner-Plug.png → ...ls/plug/materials/textures/Inner-Plug.png
diff --git a/legacy/uuv_mating/models/Electrical-Plug.dae → ...ls/models/plug/meshes/Electrical-Plug.dae b/legacy/uuv_mating/models/Electrical-Plug.dae → ...ls/models/plug/meshes/Electrical-Plug.dae
@@ -62,7 +62,7 @@
   </library_effects>
   <library_images>
     <image id="Inner-Plug_png" name="Inner-Plug_png">
-      <init_from>Inner-Plug.png</init_from>
+      <init_from>../materials/textures/Inner-Plug.png</init_from>
     </image>
   </library_images>
   <library_materials>
@@ -137,4 +137,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
+</COLLADA>
diff --git a/models/dave_object_models/models/plug/model.sdf b/models/dave_object_models/models/plug/model.sdf
@@ -9,7 +9,7 @@
       <visual name ='visual'>
         <geometry>
           <mesh>
-            <uri>model://Electrical-Plug.dae</uri>
+            <uri>model://plug/meshes/Electrical-Plug.dae</uri>
             <scale>0.1 0.1 0.1</scale>
           </mesh>
         </geometry>
@@ -18,11 +18,11 @@
       <collision name ='collision'>
         <geometry>
           <mesh>
-            <uri>model://Electrical-Plug.dae</uri>
+            <uri>model://plug/meshes/Electrical-Plug.dae</uri>
             <scale>0.1 0.1 0.1</scale>
           </mesh>
         </geometry>
-      </collision>collisionChecks
+      </collision>
 
       <!-- <collision name ='stand'>
          <pose>0 0.1 -0.06 0 0 0</pose>

diff --git a/legacy/uuv_mating/models/Outer-Plug.png → ...ket_box/materials/textures/Outer-Plug.png b/legacy/uuv_mating/models/Outer-Plug.png → ...ket_box/materials/textures/Outer-Plug.png
diff --git a/...y/uuv_mating/models/Electrical-Socket.dae → ...s/socket_box/meshes/Electrical-Socket.dae b/...y/uuv_mating/models/Electrical-Socket.dae → ...s/socket_box/meshes/Electrical-Socket.dae
@@ -106,7 +106,7 @@
   </library_effects>
   <library_images>
     <image id="Outer-Plug_png" name="Outer-Plug_png">
-      <init_from>Outer-Plug.png</init_from>
+      <init_from>../materials/textures/Outer-Plug.png</init_from>
     </image>
   </library_images>
   <library_materials>
@@ -185,4 +185,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
+</COLLADA>
diff --git a/models/dave_object_models/models/socket_box/model.sdf b/models/dave_object_models/models/socket_box/model.sdf
@@ -10,23 +10,21 @@
     <link name ='socket'>
       <pose>3.32 0.3 8.3 0 0 -1.570796</pose>
       <visual name ='visual'>
-
         <geometry>
           <mesh>
-            <uri>model://Electrical-Socket.dae</uri>
+            <uri>model://socket_box/meshes/Electrical-Socket.dae</uri>
             <scale>0.12 0.12 0.12</scale>
           </mesh>
         </geometry>
       </visual>
       <collision name ='collision'>
         <geometry>
           <mesh>
-            <uri>model://Electrical-Socket.dae</uri>
+            <uri>model://socket_box/meshes/Electrical-Socket.dae</uri>
             <scale>0.12 0.12 0.12</scale>
           </mesh>
         </geometry>
       </collision>
-
     </link>
 
     <link name ='sensor_plate'>