Initial commit.

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(rover5)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(
+  DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

LICENSE

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+Copyright (c) 2013, Tony Baltovski
+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 the {organization} 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.

components.md

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+#Components
+- Dagu Rover 5 2WD Tracked Chassis with Encoders
+- Arduino Mega 1280
+- DFRobot L298P Motor Shield (2A)
+- DFRobot IO Expansion Shield for Arduino V5.0
+- Xbee Series 1 (X2)
+- Sparkfun XBee Explorer USB
+- Turngiy nanotech 500mah 2 cell
+

launch/rover5_description.launch

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+<launch>
+	<param name="robot_description" command="cat $(find rover5)/urdf/rover5.urdf" /> 
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publister" />
+</launch>

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>rover5</name>
+  <version>0.0.0</version>
+  <description>The rover5 package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">balto</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+  <export>
+  </export>
+</package>

urdf/rover5.urdf

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+<robot name="rover5">
+
+<!-- BASE_FOOTPRINT -->
+    <link name="base_footprint">
+        <inertial>
+            <mass value="0.0001" />
+            <origin xyz="0 0 0" />
+            <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
+                     iyy="0.0001" iyz="0.0" 
+                     izz="0.0001" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.001 0.001 0.001" />
+            </geometry>
+        </visual>
+    </link>
+
+    <!-- BASE_LINK -->
+    <link name="base_link">
+         <visual>
+					<origin xyz="0 0 0" rpy="0 0 0" />
+      		<geometry>
+        		<mesh filename="package://rover5/urdf/rover5.dae"  scale="0.001 0.001 0.001"/>
+      		</geometry>
+        </visual>    
+    </link>
+
+    <joint name="base_footprint_joint" type="fixed">
+		<origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_footprint"/>
+        <child link="base_link" />
+    </joint>
+ </robot>