Add multirobot example

Signed-off-by: Geoffrey Biggs <[email protected]>

drake_ros_examples/examples/CMakeLists.txt

@@ -1,2 +1,3 @@
 add_subdirectory(iiwa_manipulator)
+add_subdirectory(multirobot)
 add_subdirectory(rs_flip_flop)

drake_ros_examples/examples/multirobot/CMakeLists.txt

@@ -0,0 +1,14 @@
+install(
+  PROGRAMS multirobot.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY iiwa_description
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(
+  FILES multirobot.rviz
+  DESTINATION share/${PROJECT_NAME}
+)

drake_ros_examples/examples/multirobot/README.md

@@ -0,0 +1,19 @@
+# Multirobot
+
+## Overview
+
+The `multirobot.py` script enables RViz visualisation of an array of Kuka LBR iiwa manipulators.
+It publishes the following topics:
+
+* `/tf` (all scene frames)
+* `/` ()
+
+## How to run the example
+
+Run the Python `multirobot.py` script as explained [here](../../README.md#running).
+
+In a separate terminal, launch RViz and provide the path to the configuration file to visualise the robots.
+
+```
+ros2 run rviz2 rviz2 -d $(ros2 pkg prefix drake_ros_examples)/share/drake_ros_examples/multirobot.rviz
+```

drake_ros_examples/examples/multirobot/iiwa_description/BUILD.bazel

@@ -0,0 +1,36 @@
+# -*- python -*-
+
+load(
+    "@drake//tools/skylark:drake_cc.bzl",
+    "drake_cc_googletest",
+)
+load("//tools/install:install_data.bzl", "install_data")
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+# This package is public so that other packages can refer to
+# individual files in model from their bazel rules.
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+# === test/ ===
+
+drake_cc_googletest(
+    name = "dual_iiwa14_polytope_collision_test",
+    srcs = ["urdf/test/dual_iiwa14_polytope_collision_test.cc"],
+    data = [":models"],
+    deps = [
+        "//common:find_resource",
+        "//multibody/parsing",
+        "//multibody/plant",
+    ],
+)
+
+install_data(
+    extra_prod_models = [
+        "LICENSE.TXT",
+        "iiwa_stack.LICENSE.txt",
+    ],
+)
+
+add_lint_tests()

drake_ros_examples/examples/multirobot/iiwa_description/LICENSE.TXT

@@ -0,0 +1,12 @@
+This folder contains a model of the Kuka LBR IIWA robot. The files were
+originally taken from https://github.com/SalvoVirga/iiwa_stack, SHA
+2fa5bd5. The original license for these files is given in the link below and
+copied into file iiwa_stack.LICENSE.txt.
+
+https://github.com/SalvoVirga/iiwa_stack/blob/2fa5bd5/LICENSE.txt
+
+Since obtaining the model files from the above-mentioned source, they were
+substantially modified for use by Drake. For example, the original STL mesh
+files were converted to OBJ files, and various mass / inertia properties and
+collision models were modified. Our changes are covered by Drake's license terms
+(see LICENSE.TXT in Drake's root folder).

drake_ros_examples/examples/multirobot/iiwa_description/README.md

@@ -0,0 +1,15 @@
+Execute the following commands to regenerate the URDF files using xacro. Note
+that ROS Jade or newer must be used because the xacro scripts make use of more
+expressive conditional statements [1].
+
+```
+source /opt/ros/kinetic/setup.bash
+cd drake/manipulation/models
+export ROS_PACKAGE_PATH=`pwd`:$ROS_PACKAGE_PATH
+cd iiwa_description
+rosrun xacro xacro -o urdf/iiwa14_primitive_collision.urdf urdf/iiwa14_primitive_collision.urdf.xacro
+rosrun xacro xacro -o urdf/iiwa14_polytope_collision.urdf urdf/iiwa14_polytope_collision.urdf.xacro
+rosrun xacro xacro -o urdf/dual_iiwa14_polytope_collision.urdf urdf/dual_iiwa14_polytope_collision.urdf.xacro
+```
+
+[1] http://wiki.ros.org/xacro#Conditional_Blocks