first commit

.travis.yml

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+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+
+sudo: required
+dist: trusty
+services:
+  - docker
+language: generic
+python:
+  - "2.7"
+compiler:
+  - gcc
+notifications:
+  email:
+    on_success: always
+    on_failure: always
+    recipients:
+      - [email protected]
+env:
+  matrix:
+    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian
+#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
+branches:
+  only:
+    - master
+    - develop
+    - kinetic-devel
+install:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script:
+  - source .ci_config/travis.sh
+

open_manipulator_with_tb3/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(open_manipulator_with_tb3)
+find_package(catkin REQUIRED)
+catkin_metapackage()

open_manipulator_with_tb3/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>open_manipulator_with_tb3</name>
+  <version>0.1.1</version>
+  <description>
+    ROS-enabled OpenManipulator is a full open robot platform consisting of OpenSoftware​, OpenHardware and OpenCR(Embedded board)​.
+    The OpenManipulator is allowed users to control it more easily by linking with the MoveIt! package. Moreover it has full hardware compatibility with TurtleBot3​. 
+    Even if you do not have a real robot, you can control the robot in the Gazebo simulator​.
+  </description>
+  <license>Apache 2.0</license>
+  <author email="[email protected]">Darby Lim</author>
+  <maintainer email="[email protected]">Pyo</maintainer>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3</url>
+  <url type="website">http://emanual.robotis.com/docs/en/platform/openmanipulator</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>open_manipulator_with_tb3_description</exec_depend>
+  <exec_depend>open_manipulator_with_tb3_tools</exec_depend>
+  <exec_depend>open_manipulator_with_tb3_waffle_moveit</exec_depend>
+  <exec_depend>open_manipulator_with_tb3_waffle_pi_moveit</exec_depend>
+  <export><metapackage/></export>
+</package>

open_manipulator_with_tb3_description/CMakeLists.txt

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+################################################################################
+# CMake
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(open_manipulator_with_tb3_description)
+
+################################################################################
+# Packages
+################################################################################
+find_package(catkin REQUIRED)
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Catkin specific configuration
+################################################################################
+catkin_package()
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+install(DIRECTORY launch meshes rviz urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################

open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_model.launch

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+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
+  <arg name="use_gazebo"	   default="false" />
+  <arg name="open_rviz"      default="false" />
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find open_manipulator_with_tb3_description)/urdf/open_manipulator_with_tb3_$(arg model).urdf.xacro'"/>
+
+  <!-- Send joint values -->
+  <group if="$(arg use_gazebo)">
+    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+      <rosparam param="source_list">["/joint_states"]</rosparam>
+    </node>
+  </group>
+
+  <!-- Combine joint values -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
+
+  <!-- Show in Rviz -->
+  <group if="$(arg open_rviz)">
+   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_with_tb3_description)/rviz/open_manipulator_with_tb3.rviz"/>
+  </group>
+</launch>
+

open_manipulator_with_tb3_description/launch/open_manipulator_with_tb3_rviz.launch

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+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [waffle, waffle_pi]"/>
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find open_manipulator_with_tb3_description)/urdf/open_manipulator_with_tb3_$(arg model).urdf.xacro'"/>
+
+  <!-- Send joint values -->
+  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+    <param name="/use_gui" value="true"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
+
+  <!-- Show in Rviz -->
+   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find open_manipulator_with_tb3_description)/rviz/open_manipulator_with_tb3.rviz"/>
+</launch>
+

open_manipulator_with_tb3_description/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>open_manipulator_with_tb3_description</name>
+  <version>0.1.1</version>
+  <description>
+    OpenManipulator 3D model description for visualization and simulation 
+  </description>
+  <license>Apache 2.0</license>
+  <author email="[email protected]">Darby Lim</author>
+  <maintainer email="[email protected]">Pyo</maintainer>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3</url>
+  <url type="website">http://emanual.robotis.com/docs/en/platform/openmanipulator</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>urdf</exec_depend>
+</package>