urdf/wild_thumper.urdf.xacro

   1 <?xml version="1.0"?>
   2 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
   3         <xacro:property name="PI" value="3.1415926535897931" />
   4
   5         <link name="base_footprint">
   6                 <visual>
   7                         <geometry>
   8                                 <box size="0.28 0.31 0.000001"/>
   9                         </geometry>
  10                         <material name="grey">
  11                                 <color rgba="0.5 0.5 0.5 0.5"/>
  12                         </material>
  13                 </visual>
  14         </link>
  15
  16         <link name="base_link">
  17                 <collision>
  18                         <geometry>
  19                                 <box size="0.23 0.12 0.09"/>
  20                         </geometry>
  21                 </collision>
  22                 <visual>
  23                         <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
  24                         <geometry>
  25                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
  26                         </geometry>
  27                 </visual>
  28                 <inertial>
  29                         <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
  30                         <mass value="2.5"/>
  31                         <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
  32                 </inertial>
  33         </link>
  34
  35         <link name="base_imu_link">
  36                 <visual>
  37                         <geometry>
  38                                 <box size="0.041 0.028 0.002"/>
  39                         </geometry>
  40                         <material name="red">
  41                                 <color rgba="1 0 0 1"/>
  42                         </material>
  43                 </visual>
  44         </link>
  45
  46         <link name="mounting_plate">
  47                 <visual>
  48                         <geometry>
  49                                 <box size="0.23 0.12 0.001"/>
  50                         </geometry>
  51                 </visual>
  52         </link>
  53
  54         <link name="lidar">
  55                 <visual>
  56                         <geometry>
  57                                 <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
  58                         </geometry>
  59                         <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
  60                         <material name="black">
  61                                 <color rgba="0 0 0 1"/>
  62                         </material>
  63                 </visual>
  64         </link>
  65
  66         <link name="sonar_forward_left">
  67                 <visual>
  68                         <geometry>
  69                                 <box size="0.016 0.044 0.02"/>
  70                         </geometry>
  71                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  72                         <material name="green">
  73                                 <color rgba="0 1 0 0.8"/>
  74                         </material>
  75                 </visual>
  76         </link>
  77
  78         <link name="sonar_forward_right">
  79                 <visual>
  80                         <geometry>
  81                                 <box size="0.016 0.044 0.02"/>
  82                         </geometry>
  83                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  84                         <material name="green">
  85                                 <color rgba="0 1 0 0.8"/>
  86                         </material>
  87                 </visual>
  88         </link>
  89
  90         <link name="sonar_backward">
  91                 <visual>
  92                         <geometry>
  93                                 <box size="0.016 0.044 0.02"/>
  94                         </geometry>
  95                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  96                         <material name="green">
  97                                 <color rgba="0 1 0 0.8"/>
  98                         </material>
  99                 </visual>
 100         </link>
 101
 102         <joint name="base_link_joint" type="fixed">
 103                 <parent link="base_footprint"/>
 104                 <child link="base_link"/>
 105                 <origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
 106         </joint>
 107
 108         <joint name="mounting_plate_joint" type="fixed">
 109                 <parent link="base_link"/>
 110                 <child link="mounting_plate"/>
 111                 <origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
 112         </joint>
 113
 114         <joint name="imu_joint" type="fixed">
 115                 <parent link="mounting_plate"/>
 116                 <child link="base_imu_link"/>
 117                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
 118         </joint>
 119
 120         <joint name="sonar_forward_left_joint" type="fixed">
 121                 <parent link="mounting_plate"/>
 122                 <child link="sonar_forward_left"/>
 123                 <origin xyz="0.115 0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
 124         </joint>
 125
 126         <joint name="sonar_forward_right_joint" type="fixed">
 127                 <parent link="mounting_plate"/>
 128                 <child link="sonar_forward_right"/>
 129                 <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
 130         </joint>
 131
 132         <joint name="sonar_backward_joint" type="fixed">
 133                 <parent link="mounting_plate"/>
 134                 <child link="sonar_backward"/>
 135                 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
 136         </joint>
 137
 138         <joint name="lidar_joint" type="fixed">
 139                 <parent link="mounting_plate"/>
 140                 <child link="lidar"/>
 141                 <origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
 142         </joint>
 143
 144         <xacro:macro name="wheel" params="pos side xyz rpy">
 145                 <link name="${pos}_${side}_wheel">
 146                         <visual>
 147                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 148                                 <geometry>
 149                                         <mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
 150                                 </geometry>
 151                         </visual>
 152                         <collision>
 153                                 <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
 154                                 <geometry>
 155                                         <cylinder radius="0.06" length="0.06"/>
 156                                 </geometry>
 157                         </collision>
 158                         <inertial>
 159                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 160                                 <mass value="0.2"/>
 161                                 <inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
 162                         </inertial>
 163                 </link>
 164
 165                 <gazebo reference="${pos}_${side}_wheel">
 166                         <mu1 value="1.0"/>
 167                         <mu2 value="0.2"/>
 168                         <kp value="1000000.0" />
 169                         <kd value="1.0" />
 170                         <fdir1 value="0 1 0"/>
 171                         <minDepth>0.005</minDepth>
 172                 </gazebo>
 173
 174                 <joint name="${pos}_${side}_wheel_joint" type="continuous">
 175                         <parent link="base_link"/>
 176                         <child link="${pos}_${side}_wheel"/>
 177                         <axis xyz="0 1 0"/>
 178                         <origin xyz="${xyz}" rpy="${rpy}"/>
 179                 </joint>
 180
 181                 <transmission name="${pos}_${side}_wheel_trans" type="SimpleTransmission">
 182                         <type>transmission_interface/SimpleTransmission</type>
 183                         <joint name="${pos}_${side}_wheel_joint">
 184                                 <hardwareInterface>VelocityJointInterface</hardwareInterface>
 185                         </joint>
 186                         <actuator name="{pos}_${side}_wheel_motor">
 187                                 <mechanicalReduction>1</mechanicalReduction>
 188                         </actuator>
 189                 </transmission>
 190         </xacro:macro>
 191
 192         <xacro:wheel pos="rear" side="left"   xyz="-0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 193         <xacro:wheel pos="rear" side="right"  xyz="-0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 194         <xacro:wheel pos="front" side="left"  xyz=" 0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 195         <xacro:wheel pos="front" side="right" xyz=" 0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 196
 197         <gazebo>
 198                 <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 199                         <robotNamespace>/</robotNamespace>
 200                         <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
 201                 </plugin>
 202
 203                 <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
 204                         <alwaysOn>true</alwaysOn>
 205                         <updateRate>20.0</updateRate>
 206                         <bodyName>base_imu_link</bodyName>
 207                         <topicName>imu</topicName>
 208                         <gaussianNoise>0.05</gaussianNoise>
 209                         <frameName>base_imu_link</frameName>
 210                         <xyzOffsets>0 0 0</xyzOffsets>
 211                         <rpyOffset>0 0 0</rpyOffset>
 212                         <serviceName>/default_imu</serviceName>
 213                 </plugin>
 214         </gazebo>
 215
 216         <xacro:macro name="range_sensor" params="name ros_topic update_rate minRange maxRange fov radiation">
 217                 <gazebo reference="${name}">
 218                         <sensor type="ray" name="${name}_sensor">
 219                                 <pose>0 0 0 0 0 0</pose>
 220                                 <update_rate>${update_rate}</update_rate>
 221                                 <visualize>false</visualize>
 222                                 <ray>
 223                                         <scan>
 224                                                 <horizontal>
 225                                                         <samples>5</samples>
 226                                                         <resolution>1</resolution>
 227                                                         <min_angle>-${fov/2}</min_angle>
 228                                                         <max_angle>${fov/2}</max_angle>
 229                                                 </horizontal>
 230                                                 <vertical>
 231                                                         <samples>5</samples>
 232                                                         <resolution>1</resolution>
 233                                                         <min_angle>-${fov/2}</min_angle>
 234                                                         <max_angle>${fov/2}</max_angle>
 235                                                 </vertical>
 236                                         </scan>
 237                                         <range>
 238                                                 <min>${minRange}</min>
 239                                                 <max>${maxRange}</max>
 240                                                 <resolution>0.01</resolution>
 241                                         </range>
 242                                 </ray>
 243                                 <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
 244                                         <gaussianNoise>0.005</gaussianNoise>
 245                                         <alwaysOn>true</alwaysOn>
 246                                         <updateRate>${update_rate}</updateRate>
 247                                         <topicName>${ros_topic}</topicName>
 248                                         <frameName>${name}</frameName>
 249                                         <fov>${fov}</fov>
 250                                         <radiation>${radiation}</radiation>
 251                                 </plugin>
 252                         </sensor>
 253                 </gazebo>
 254         </xacro:macro>
 255
 256         <xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 257         <xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 258         <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 259         <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 260         <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 261
 262         <gazebo reference="lidar">
 263                 <sensor type="ray" name="head_rplidar_a2_sensor">
 264                         <pose>0 0 0 0 0 0</pose>
 265                         <visualize>false</visualize>
 266                         <update_rate>12</update_rate>
 267                         <ray>
 268                                 <scan>
 269                                         <horizontal>
 270                                                 <samples>360</samples>
 271                                                 <resolution>1</resolution>
 272                                                 <min_angle>-3.12413907051</min_angle>
 273                                                 <max_angle>3.14159274101</max_angle>
 274                                         </horizontal>
 275                                 </scan>
 276                                 <range>
 277                                         <min>0.15</min>
 278                                         <max>16.0</max>
 279                                         <resolution>0.01</resolution>
 280                                 </range>
 281                                 <noise>
 282                                         <type>gaussian</type>
 283                                         <mean>0.0</mean>
 284                                         <stddev>0.01</stddev>
 285                                 </noise>
 286                         </ray>
 287                         <plugin name="gazebo_ros_head_rplidar_a2_controller" filename="libgazebo_ros_laser.so">
 288                                 <topicName>/scan</topicName>
 289                                 <frameName>lidar</frameName>
 290                         </plugin>
 291                 </sensor>
 292         </gazebo>
 293 </robot>