-remove the material tag from the end effector link

-add missing dependencies in CMakeLists.txt and package.xml
-launch controller_switcher at startup in single_lwr.launch
-change the path where the generated workbench xacro is saved

Author: xEnVrE

CMakeLists.txt

@@ -5,6 +5,8 @@ project(lwr_force_position_controllers)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  eigen_conversions
+  kdl_conversions
   controller_interface
   lwr_controllers
   roscpp
@@ -45,6 +47,8 @@ catkin_package(
     kdljacdot
     controller_interface
     lwr_controllers
+    kdl_conversions
+    eigen_conversions
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
 )

launch/single_lwr.launch

@@ -48,8 +48,8 @@
 		<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model vito -x 0 -y 0 -z 1.0 -R 0 -P 0 -Y 0" respawn="false" output="screen"/>
 
 		<!-- generate and load workbench urdf -->
-		<node name="generate_workbench" pkg="xacro" type="xacro.py" args="-o $(find vito_description)/robot/workbench.urdf $(find lwr_force_position_controllers)/robot/workbench.urdf.xacro" />
-		<node name="spawn_workbench" pkg="gazebo_ros" type="spawn_model" args="-file $(find vito_description)/robot/workbench.urdf -urdf -model workbench" respawn="false" output="screen"/>		 		
+		<node name="generate_workbench" pkg="xacro" type="xacro.py" args="-o $(find lwr_force_position_controllers)/robot/workbench.urdf $(find lwr_force_position_controllers)/robot/workbench.urdf.xacro" />
+		<node name="spawn_workbench" pkg="gazebo_ros" type="spawn_model" args="-file $(find lwr_force_position_controllers)/robot/workbench.urdf -urdf -model workbench" respawn="false" output="screen"/>		 		
 
 		<!-- enable/disable gui at will, the rviz listens to the simulation -->
 		<include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -113,5 +113,5 @@
 
 	</group>
 
-	<!-- <node name="controller_switcher" pkg="controller_switcher" type="controller_switcher" args="lwr"/> -->
+	<node name="controller_switcher" pkg="controller_switcher" type="controller_switcher" args="lwr"/>
 </launch>

model/end_effector.urdf.xacro

@@ -37,7 +37,6 @@
         <geometry>
           <sphere radius="0.01" />
         </geometry>
-      <material name="Red"/>
       </visual>
 
       <collision>

package.xml

@@ -15,12 +15,17 @@
   <build_depend>kdljacdot</build_depend>
   <build_depend>message_runtime</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>eigen_conversions</build_depend>
+  <build_depend>kdl_conversions</build_depend>
   <run_depend>controller_interface</run_depend>
   <run_depend>lwr_controllers</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>kdljacdot</run_depend>
+  <run_depend>eigen_conversions</run_depend>
+  <run_depend>kdl_conversions</run_depend>
+
 
   <export>
     <controller_interface plugin="${prefix}/lwr_force_position_controllers_plugins.xml"/>
   </export>
-</package>
+</package>