URDF tools from wu-ros-pkg

Hey all,

I wanted to announce a new package that resulted from my work this past summer. It's a handful of tools I've found useful for building urdf models. It's a stack with the clever name, urdf_tools (code).

There are four packages inside:

• easy_state_publisher - Similar to robot_state_publisher, but doesn't require any input. Just outputs zeroed joint states or transforms for any given urdf model.
• joint_controller - Publishes joint states using a GUI interface
• arm_kinematics - My attempt at a generic kinematics package not coupled to the PR2 hardware
• simmechanics_to_urdf - The biggest package of all of them, used for converting CAD-like models to URDF.

More information is on the respective wiki pages. Questions feedback and bug reports are most welcome.
-David Lu!!