Add new URDFs from Rhys, add cellular & wifi antennas to the observer arch. Add new wireless charger attachment

Author: civerachb-cpr

clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl

@@ -1,6 +1,10 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://wiki.ros.org.xacro">
   <xacro:macro name="observer_arch" params="name parent_link:=default_mount model:=observer_arch *origin">
+
+    <!--
+      Main sensor arch
+    -->
     <link name="${name}_link">
       <visual>
         <geometry>
@@ -26,7 +30,54 @@
     </joint>
 
     <!--
-        Sensor mounting points
+      Standard antennas & accessories
+    -->
+    <link name="${name}_cellular_antenna">
+      <visual>
+        <geometry>
+          <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="clearpath_black" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <geometry>
+          <!-- TODO: replace with box -->
+          <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_cellular_antenna.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </collision>
+    </link>
+    <joint name="${name}_cellular_antenna_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_cellular_antenna" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+    <link name="${name}_wifi_antennas">
+      <visual>
+        <geometry>
+          <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <material name="clearpath_black" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </visual>
+      <collision>
+        <geometry>
+          <!-- TODO: replace with dual cylinders -->
+          <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/observer_wifi_antennas.stl" scale="0.001 0.001 0.001" />
+        </geometry>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+      </collision>
+    </link>
+    <joint name="${name}_wifi_antennas_joint" type="fixed">
+      <parent link="${name}_link" />
+      <child link="${name}_wifi_antennas" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+
+    <!--
+      Sensor mounting points
     -->
 
     <link name="${name}_left_antenna_mount" />

clearpath_platform_description/meshes/a300/attachments/observer_lights.stl

@@ -0,0 +1,26 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+    <xacro:macro name="wireless_charger" params="name parent_link:=base_link model:=default *origin">
+        <link name="${name}_link">
+        <visual>
+            <geometry>
+                <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="clearpath_black" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <!-- TODO: replace with box -->
+                <mesh filename="package://clearpath_platform_description/meshes/a300/attachments/wireless_charger.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+        </collision>
+        </link>
+        <joint name="${name}_wireless_charger_joint" type="fixed">
+            <parent link="${parent_link}" />
+            <child link="${name}_link" />
+            <xacro:insert_block name="origin" />
+        </joint>
+    </xacro:macro>
+</robot>