diff --git a/training/orig/2.8b/src/CMakeLists.txt b/training/orig/2.8b/src/CMakeLists.txt
new file mode 120000
index 00000000..904b44e6
--- /dev/null
+++ b/training/orig/2.8b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/hydro/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/training/orig/2.8b/src/lesson_xacro/CMakeLists.txt b/training/orig/2.8b/src/lesson_xacro/CMakeLists.txt
new file mode 100644
index 00000000..cc03700d
--- /dev/null
+++ b/training/orig/2.8b/src/lesson_xacro/CMakeLists.txt
@@ -0,0 +1,161 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lesson_xacro)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ urdf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependencies might have been
+## pulled in transitively but can be declared for certainty nonetheless:
+## * add a build_depend tag for "message_generation"
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES lesson_xacro
+# CATKIN_DEPENDS urdf
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(lesson_xacro
+# src/${PROJECT_NAME}/lesson_xacro.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(lesson_xacro_node src/lesson_xacro_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(lesson_xacro_node lesson_xacro_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(lesson_xacro_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS lesson_xacro lesson_xacro_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lesson_xacro.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/training/orig/2.8b/src/lesson_xacro/launch/lesson_xacro.launch b/training/orig/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
new file mode 100644
index 00000000..55923761
--- /dev/null
+++ b/training/orig/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/training/orig/2.8b/src/lesson_xacro/meshes/gripper.STL b/training/orig/2.8b/src/lesson_xacro/meshes/gripper.STL
new file mode 100644
index 00000000..624d0550
Binary files /dev/null and b/training/orig/2.8b/src/lesson_xacro/meshes/gripper.STL differ
diff --git a/training/orig/2.8b/src/lesson_xacro/package.xml b/training/orig/2.8b/src/lesson_xacro/package.xml
new file mode 100644
index 00000000..4d243f49
--- /dev/null
+++ b/training/orig/2.8b/src/lesson_xacro/package.xml
@@ -0,0 +1,55 @@
+
+
+ lesson_xacro
+ 0.0.0
+ The lesson_xacro package
+
+
+
+
+ ros-industrial
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ urdf
+ urdf
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/training/orig/2.8b/src/lesson_xacro/urdf.rviz b/training/orig/2.8b/src/lesson_xacro/urdf.rviz
new file mode 100644
index 00000000..05ee73fb
--- /dev/null
+++ b/training/orig/2.8b/src/lesson_xacro/urdf.rviz
@@ -0,0 +1,187 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ Splitter Ratio: 0.5
+ Tree Height: 601
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ world_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 3.03002
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.00882241
+ Y: -0.493523
+ Z: 0.771927
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.230398
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.985398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 882
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e8000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e8000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650100000000000004c0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000037e000002e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 210
+ Y: 76
diff --git a/training/orig/2.8b/src/lesson_xacro/urdf/workcell.xacro b/training/orig/2.8b/src/lesson_xacro/urdf/workcell.xacro
new file mode 100644
index 00000000..80e260b5
--- /dev/null
+++ b/training/orig/2.8b/src/lesson_xacro/urdf/workcell.xacro
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/training/ref/2.8b/src/CMakeLists.txt b/training/ref/2.8b/src/CMakeLists.txt
new file mode 120000
index 00000000..904b44e6
--- /dev/null
+++ b/training/ref/2.8b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/hydro/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/training/ref/2.8b/src/lesson_xacro/CMakeLists.txt b/training/ref/2.8b/src/lesson_xacro/CMakeLists.txt
new file mode 100644
index 00000000..cc03700d
--- /dev/null
+++ b/training/ref/2.8b/src/lesson_xacro/CMakeLists.txt
@@ -0,0 +1,161 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lesson_xacro)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ urdf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependencies might have been
+## pulled in transitively but can be declared for certainty nonetheless:
+## * add a build_depend tag for "message_generation"
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES lesson_xacro
+# CATKIN_DEPENDS urdf
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(lesson_xacro
+# src/${PROJECT_NAME}/lesson_xacro.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(lesson_xacro_node src/lesson_xacro_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(lesson_xacro_node lesson_xacro_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(lesson_xacro_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS lesson_xacro lesson_xacro_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lesson_xacro.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/training/ref/2.8b/src/lesson_xacro/launch/lesson_xacro.launch b/training/ref/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
new file mode 100644
index 00000000..55923761
--- /dev/null
+++ b/training/ref/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/training/ref/2.8b/src/lesson_xacro/meshes/gripper.STL b/training/ref/2.8b/src/lesson_xacro/meshes/gripper.STL
new file mode 100644
index 00000000..624d0550
Binary files /dev/null and b/training/ref/2.8b/src/lesson_xacro/meshes/gripper.STL differ
diff --git a/training/ref/2.8b/src/lesson_xacro/package.xml b/training/ref/2.8b/src/lesson_xacro/package.xml
new file mode 100644
index 00000000..4d243f49
--- /dev/null
+++ b/training/ref/2.8b/src/lesson_xacro/package.xml
@@ -0,0 +1,55 @@
+
+
+ lesson_xacro
+ 0.0.0
+ The lesson_xacro package
+
+
+
+
+ ros-industrial
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ urdf
+ urdf
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/training/ref/2.8b/src/lesson_xacro/urdf.rviz b/training/ref/2.8b/src/lesson_xacro/urdf.rviz
new file mode 100644
index 00000000..05ee73fb
--- /dev/null
+++ b/training/ref/2.8b/src/lesson_xacro/urdf.rviz
@@ -0,0 +1,187 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ Splitter Ratio: 0.5
+ Tree Height: 601
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ world_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 3.03002
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.00882241
+ Y: -0.493523
+ Z: 0.771927
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.230398
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.985398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 882
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e8000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e8000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650100000000000004c0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000037e000002e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 210
+ Y: 76
diff --git a/training/ref/2.8b/src/lesson_xacro/urdf/workcell.xacro b/training/ref/2.8b/src/lesson_xacro/urdf/workcell.xacro
new file mode 100644
index 00000000..f913c201
--- /dev/null
+++ b/training/ref/2.8b/src/lesson_xacro/urdf/workcell.xacro
@@ -0,0 +1,78 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/training/work/2.8b/src/CMakeLists.txt b/training/work/2.8b/src/CMakeLists.txt
new file mode 120000
index 00000000..904b44e6
--- /dev/null
+++ b/training/work/2.8b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/hydro/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/training/work/2.8b/src/lesson_xacro/CMakeLists.txt b/training/work/2.8b/src/lesson_xacro/CMakeLists.txt
new file mode 100644
index 00000000..cc03700d
--- /dev/null
+++ b/training/work/2.8b/src/lesson_xacro/CMakeLists.txt
@@ -0,0 +1,161 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lesson_xacro)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ urdf
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependencies might have been
+## pulled in transitively but can be declared for certainty nonetheless:
+## * add a build_depend tag for "message_generation"
+## * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES lesson_xacro
+# CATKIN_DEPENDS urdf
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(lesson_xacro
+# src/${PROJECT_NAME}/lesson_xacro.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(lesson_xacro_node src/lesson_xacro_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(lesson_xacro_node lesson_xacro_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(lesson_xacro_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS lesson_xacro lesson_xacro_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lesson_xacro.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/training/work/2.8b/src/lesson_xacro/launch/lesson_xacro.launch b/training/work/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
new file mode 100644
index 00000000..55923761
--- /dev/null
+++ b/training/work/2.8b/src/lesson_xacro/launch/lesson_xacro.launch
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/training/work/2.8b/src/lesson_xacro/meshes/gripper.STL b/training/work/2.8b/src/lesson_xacro/meshes/gripper.STL
new file mode 100644
index 00000000..624d0550
Binary files /dev/null and b/training/work/2.8b/src/lesson_xacro/meshes/gripper.STL differ
diff --git a/training/work/2.8b/src/lesson_xacro/package.xml b/training/work/2.8b/src/lesson_xacro/package.xml
new file mode 100644
index 00000000..4d243f49
--- /dev/null
+++ b/training/work/2.8b/src/lesson_xacro/package.xml
@@ -0,0 +1,55 @@
+
+
+ lesson_xacro
+ 0.0.0
+ The lesson_xacro package
+
+
+
+
+ ros-industrial
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ urdf
+ urdf
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/training/work/2.8b/src/lesson_xacro/urdf.rviz b/training/work/2.8b/src/lesson_xacro/urdf.rviz
new file mode 100644
index 00000000..05ee73fb
--- /dev/null
+++ b/training/work/2.8b/src/lesson_xacro/urdf.rviz
@@ -0,0 +1,187 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ Splitter Ratio: 0.5
+ Tree Height: 601
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.588679
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.03
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ gripper:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ tool0:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ world_frame:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Topic: /initialpose
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 3.03002
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.06
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.00882241
+ Y: -0.493523
+ Z: 0.771927
+ Name: Current View
+ Near Clip Distance: 0.01
+ Pitch: 0.230398
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.985398
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 882
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e8fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e8000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e8000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650100000000000004c0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000037e000002e800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 210
+ Y: 76
diff --git a/training/work/2.8b/src/lesson_xacro/urdf/workcell.xacro b/training/work/2.8b/src/lesson_xacro/urdf/workcell.xacro
new file mode 100644
index 00000000..80e260b5
--- /dev/null
+++ b/training/work/2.8b/src/lesson_xacro/urdf/workcell.xacro
@@ -0,0 +1,16 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+