Merge branch 'noetic-new'

README.md

@@ -13,6 +13,7 @@
 * Supported ROS versions:
    * Ubuntu 16.04 / ROS Kinetic
    * Ubuntu 18.04 / ROS Melodic
+   * Ubuntu 20.04 / ROS Noetic
 
 <!-- **If your `Atom` is 2.3 or before, or `pymycobot` is 1.\*, Please check branch [before](https://github.com/elephantrobotics/myCobotRos/tree/before)** -->
 

mycobot_280/launch/detect_marker_with_topic.launch

@@ -11,7 +11,7 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 

mycobot_280/launch/mycobot_follow.launch

@@ -4,7 +4,7 @@
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" >
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
 		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
 	</node>
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

mycobot_280/launch/simple_gui.launch

@@ -9,7 +9,7 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 

mycobot_280/launch/slider_control.launch

@@ -9,9 +9,9 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
-		<param name="use_gui" value="$(arg gui)" />	
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
 	<!-- Open control script -->

mycobot_280/launch/teleop_keyboard.launch

@@ -9,7 +9,7 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 

mycobot_280/launch/test.launch

@@ -6,7 +6,7 @@
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
 		<param name="use_gui" value="$(arg gui)" />
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->

mycobot_description/urdf/mycobot/mycobot_urdf.urdf

@@ -77,14 +77,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
     </visual>
     <collision>
        <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+      <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
     </collision>
   </link>