microsoft · AustinDeric · Sep 27, 2020 · AustinDeric · Sep 27, 2020 · AustinDeric
diff --git a/README.md b/README.md
@@ -95,27 +95,6 @@ export LIBGL_ALWAYS_INDIRECT=
 Start VcXsrv *without* native OpenGL:
 ![VcXsrv without native OpenGL](./docs/StartingVcXsrv.png)
 
-#### 1.6 Set Up URDF Visualization (Optional)
-
-Request spot.urdf and .stl mesh files from Boston Dynamics in order to be able to utilize the real-time RViz visualization of Spot's state.
-The directory structure must be as follows for compatibility with the `rviz_display.launch` file:
-
-```
-workspace_directory/
-	...
-	spot_urdf/
-		...
-		link_models/
-			base.stl
-			fl.lleg.stl
-			fr.hip.stl
-			...
-			hl.uleg.stl
-			hr.lleg.stl
-		urdf/
-			spot.urdf
-```
-
 ## 2.	Software dependencies
 
 Make `install_dependencies.sh` executable and run it:

diff --git a/spot_ros_interface/CMakeLists.txt b/spot_ros_interface/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(spot_ros_interface)
 
 ## Find catkin and any catkin packages
@@ -9,4 +9,8 @@ catkin_package()
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-catkin_python_setup()
+catkin_install_python(PROGRAMS scripts/grid_utils.py
+                               scripts/keyboard_teleop.py
+                               scripts/spot_ros_interface.py
+                               scripts/tf_remapper.py
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/spot_ros_interface/setup.py b/spot_ros_interface/setup.py
diff --git a/spot_ros_msgs/CMakeLists.txt b/spot_ros_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(spot_ros_msgs)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/spot_ros_srvs/CMakeLists.txt b/spot_ros_srvs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(spot_ros_srvs)
 
 find_package(catkin REQUIRED COMPONENTS

diff --git a/spot_urdf/CMakeLists.txt b/spot_urdf/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(spot_urdf)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -150,43 +150,21 @@ include_directories(
 ## Install ##
 #############
 
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
 
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
+install(DIRECTORY meshes/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
+)
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(DIRECTORY rviz/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+)
 
 #############
 ## Testing ##

diff --git a/spot_urdf/launch/rviz_display.launch b/spot_urdf/launch/rviz_display.launch
@@ -1,6 +1,6 @@
 <launch>
 
-  <arg name="model" default="$(find spot_urdf)/urdf/spot.urdf"/>
+  <arg name="model" default="$(find spot_urdf)/urdf/spot.urdf.xacro"/>
   <arg name="gui" default="true" />
   <arg name="rvizconfig" default="$(find spot_urdf)/rviz/occupancy_grid_config.rviz" />
 

diff --git a/spot_urdf/meshes/body.dae b/spot_urdf/meshes/body.dae
diff --git a/spot_urdf/meshes/body_collision.stl b/spot_urdf/meshes/body_collision.stl
diff --git a/spot_urdf/meshes/front_left_hip.dae b/spot_urdf/meshes/front_left_hip.dae
diff --git a/spot_urdf/meshes/front_left_hip_collision.stl b/spot_urdf/meshes/front_left_hip_collision.stl
diff --git a/spot_urdf/meshes/front_left_lower_leg.dae b/spot_urdf/meshes/front_left_lower_leg.dae
diff --git a/spot_urdf/meshes/front_left_lower_leg_collision.stl b/spot_urdf/meshes/front_left_lower_leg_collision.stl
diff --git a/spot_urdf/meshes/front_left_upper_leg.dae b/spot_urdf/meshes/front_left_upper_leg.dae
diff --git a/spot_urdf/meshes/front_left_upper_leg_collision.stl b/spot_urdf/meshes/front_left_upper_leg_collision.stl
diff --git a/spot_urdf/meshes/front_right_hip.dae b/spot_urdf/meshes/front_right_hip.dae
diff --git a/spot_urdf/meshes/front_right_hip_collision.stl b/spot_urdf/meshes/front_right_hip_collision.stl
diff --git a/spot_urdf/meshes/front_right_lower_leg.dae b/spot_urdf/meshes/front_right_lower_leg.dae
diff --git a/spot_urdf/meshes/front_right_lower_leg_collision.stl b/spot_urdf/meshes/front_right_lower_leg_collision.stl
diff --git a/spot_urdf/meshes/front_right_upper_leg.dae b/spot_urdf/meshes/front_right_upper_leg.dae
diff --git a/spot_urdf/meshes/front_right_upper_leg_collision.stl b/spot_urdf/meshes/front_right_upper_leg_collision.stl
diff --git a/spot_urdf/meshes/rear_left_hip.dae b/spot_urdf/meshes/rear_left_hip.dae
diff --git a/spot_urdf/meshes/rear_left_hip_collision.stl b/spot_urdf/meshes/rear_left_hip_collision.stl
diff --git a/spot_urdf/meshes/rear_left_lower_leg.dae b/spot_urdf/meshes/rear_left_lower_leg.dae
diff --git a/spot_urdf/meshes/rear_left_lower_leg_collision.stl b/spot_urdf/meshes/rear_left_lower_leg_collision.stl
diff --git a/spot_urdf/meshes/rear_left_upper_leg.dae b/spot_urdf/meshes/rear_left_upper_leg.dae
diff --git a/spot_urdf/meshes/rear_left_upper_leg_collision.stl b/spot_urdf/meshes/rear_left_upper_leg_collision.stl
diff --git a/spot_urdf/meshes/rear_right_hip.dae b/spot_urdf/meshes/rear_right_hip.dae
diff --git a/spot_urdf/meshes/rear_right_hip_collision.stl b/spot_urdf/meshes/rear_right_hip_collision.stl
diff --git a/spot_urdf/meshes/rear_right_lower_leg.dae b/spot_urdf/meshes/rear_right_lower_leg.dae
diff --git a/spot_urdf/meshes/rear_right_lower_leg_collision.stl b/spot_urdf/meshes/rear_right_lower_leg_collision.stl
diff --git a/spot_urdf/meshes/rear_right_upper_leg.dae b/spot_urdf/meshes/rear_right_upper_leg.dae
diff --git a/spot_urdf/meshes/rear_right_upper_leg_collision.stl b/spot_urdf/meshes/rear_right_upper_leg_collision.stl
diff --git a/spot_urdf/meshes/spot_mat.png b/spot_urdf/meshes/spot_mat.png