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         <material name="wtgrey">
   6                 <color rgba="0.5 0.5 0.5 0.5"/>
   7         </material>
   8         <material name="wtred">
   9                 <color rgba="1 0 0 1"/>
  10         </material>
  11         <material name="wtblack">
  12                 <color rgba="0 0 0 1"/>
  13         </material>
  14         <material name="wtgreen">
  15                 <color rgba="0 1 0 0.8"/>
  16         </material>
  17
  18         <link name="base_footprint">
  19                 <visual>
  20                         <geometry>
  21                                 <box size="0.28 0.31 0.000001"/>
  22                         </geometry>
  23                         <material name="wtgrey"/>
  24                 </visual>
  25         </link>
  26
  27         <link name="base_link">
  28                 <collision>
  29                         <geometry>
  30                                 <box size="0.23 0.12 0.09"/>
  31                         </geometry>
  32                 </collision>
  33                 <visual>
  34                         <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
  35                         <geometry>
  36                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
  37                         </geometry>
  38                 </visual>
  39                 <inertial>
  40                         <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
  41                         <mass value="2.5"/>
  42                         <inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
  43                 </inertial>
  44         </link>
  45
  46         <link name="base_imu_link">
  47                 <visual>
  48                         <geometry>
  49                                 <box size="0.041 0.028 0.002"/>
  50                         </geometry>
  51                         <material name="wtred"/>
  52                 </visual>
  53         </link>
  54
  55         <link name="mounting_plate">
  56                 <visual>
  57                         <geometry>
  58                                 <box size="0.23 0.12 0.001"/>
  59                         </geometry>
  60                 </visual>
  61         </link>
  62
  63         <link name="lidar">
  64                 <visual>
  65                         <geometry>
  66                                 <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
  67                         </geometry>
  68                         <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
  69                         <material name="wtblack"/>
  70                 </visual>
  71         </link>
  72
  73         <link name="sonar_forward_left">
  74                 <visual>
  75                         <geometry>
  76                                 <box size="0.016 0.044 0.02"/>
  77                         </geometry>
  78                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  79                         <material name="wtgreen"/>
  80                 </visual>
  81         </link>
  82
  83         <link name="sonar_forward_right">
  84                 <visual>
  85                         <geometry>
  86                                 <box size="0.016 0.044 0.02"/>
  87                         </geometry>
  88                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  89                         <material name="wtgreen"/>
  90                 </visual>
  91         </link>
  92
  93         <link name="sonar_backward">
  94                 <visual>
  95                         <geometry>
  96                                 <box size="0.016 0.044 0.02"/>
  97                         </geometry>
  98                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  99                         <material name="wtgreen"/>
 100                 </visual>
 101         </link>
 102
 103         <link name="antenna">
 104                 <visual>
 105                         <geometry>
 106                                 <cylinder radius="0.006" length="0.165"/>
 107                         </geometry>
 108                         <origin xyz="0 0 0.0825" rpy="0 0 0"/>
 109                         <material name="wtblack"/>
 110                 </visual>
 111                 <collision>
 112                         <geometry>
 113                                 <cylinder radius="0.008" length="0.17"/>
 114                         </geometry>
 115                         <origin xyz="0 0 0.085" rpy="0 0 0"/>
 116                 </collision>
 117         </link>
 118
 119         <joint name="base_link_joint" type="fixed">
 120                 <parent link="base_footprint"/>
 121                 <child link="base_link"/>
 122                 <origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
 123         </joint>
 124
 125         <joint name="mounting_plate_joint" type="fixed">
 126                 <parent link="base_link"/>
 127                 <child link="mounting_plate"/>
 128                 <origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
 129         </joint>
 130
 131         <joint name="imu_joint" type="fixed">
 132                 <parent link="mounting_plate"/>
 133                 <child link="base_imu_link"/>
 134                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
 135         </joint>
 136
 137         <joint name="sonar_forward_left_joint" type="fixed">
 138                 <parent link="mounting_plate"/>
 139                 <child link="sonar_forward_left"/>
 140                 <origin xyz="0.115 0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
 141         </joint>
 142
 143         <joint name="sonar_forward_right_joint" type="fixed">
 144                 <parent link="mounting_plate"/>
 145                 <child link="sonar_forward_right"/>
 146                 <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
 147         </joint>
 148
 149         <joint name="sonar_backward_joint" type="fixed">
 150                 <parent link="mounting_plate"/>
 151                 <child link="sonar_backward"/>
 152                 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
 153         </joint>
 154
 155         <joint name="antenna_joint" type="fixed">
 156                 <parent link="mounting_plate"/>
 157                 <child link="antenna"/>
 158                 <origin xyz="0.011 0.05 0" rpy="0 0 0"/>
 159         </joint>
 160
 161         <joint name="lidar_joint" type="fixed">
 162                 <parent link="mounting_plate"/>
 163                 <child link="lidar"/>
 164                 <origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
 165         </joint>
 166
 167         <xacro:macro name="wheel" params="pos side xyz rpy">
 168                 <link name="${pos}_${side}_wheel">
 169                         <visual>
 170                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 171                                 <geometry>
 172                                         <mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
 173                                 </geometry>
 174                         </visual>
 175                         <collision>
 176                                 <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
 177                                 <geometry>
 178                                         <cylinder radius="0.06" length="0.06"/>
 179                                 </geometry>
 180                         </collision>
 181                         <inertial>
 182                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 183                                 <mass value="0.2"/>
 184                                 <inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
 185                         </inertial>
 186                 </link>
 187
 188                 <gazebo reference="${pos}_${side}_wheel">
 189                         <mu1 value="1.0"/>
 190                         <mu2 value="0.2"/>
 191                         <kp value="1000000000000.0" />
 192                         <kd value="1.0" />
 193                         <fdir1 value="0 1 0"/>
 194                         <minDepth>0.005</minDepth>
 195                 </gazebo>
 196
 197                 <joint name="${pos}_${side}_wheel_joint" type="continuous">
 198                         <parent link="base_link"/>
 199                         <child link="${pos}_${side}_wheel"/>
 200                         <axis xyz="0 1 0"/>
 201                         <origin xyz="${xyz}" rpy="${rpy}"/>
 202                 </joint>
 203
 204                 <transmission name="${pos}_${side}_wheel_trans" type="SimpleTransmission">
 205                         <type>transmission_interface/SimpleTransmission</type>
 206                         <joint name="${pos}_${side}_wheel_joint">
 207                                 <hardwareInterface>VelocityJointInterface</hardwareInterface>
 208                         </joint>
 209                         <actuator name="{pos}_${side}_wheel_motor">
 210                                 <mechanicalReduction>1</mechanicalReduction>
 211                         </actuator>
 212                 </transmission>
 213         </xacro:macro>
 214
 215         <xacro:wheel pos="rear" side="left"   xyz="-0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 216         <xacro:wheel pos="rear" side="right"  xyz="-0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 217         <xacro:wheel pos="front" side="left"  xyz=" 0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 218         <xacro:wheel pos="front" side="right" xyz=" 0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 219
 220         <gazebo>
 221                 <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 222                         <robotNamespace>/</robotNamespace>
 223                         <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
 224                 </plugin>
 225
 226                 <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
 227                         <alwaysOn>true</alwaysOn>
 228                         <updateRate>20.0</updateRate>
 229                         <bodyName>base_imu_link</bodyName>
 230                         <topicName>imu</topicName>
 231                         <gaussianNoise>0.05</gaussianNoise>
 232                         <frameName>base_imu_link</frameName>
 233                         <xyzOffsets>0 0 0</xyzOffsets>
 234                         <rpyOffset>0 0 0</rpyOffset>
 235                         <serviceName>/default_imu</serviceName>
 236                 </plugin>
 237         </gazebo>
 238
 239         <xacro:macro name="range_sensor" params="name ros_topic update_rate minRange maxRange fov radiation">
 240                 <gazebo reference="${name}">
 241                         <sensor type="ray" name="${name}_sensor">
 242                                 <pose>0 0 0 0 0 0</pose>
 243                                 <update_rate>${update_rate}</update_rate>
 244                                 <visualize>false</visualize>
 245                                 <ray>
 246                                         <scan>
 247                                                 <horizontal>
 248                                                         <samples>5</samples>
 249                                                         <resolution>1</resolution>
 250                                                         <min_angle>-${fov/2}</min_angle>
 251                                                         <max_angle>${fov/2}</max_angle>
 252                                                 </horizontal>
 253                                                 <vertical>
 254                                                         <samples>5</samples>
 255                                                         <resolution>1</resolution>
 256                                                         <min_angle>-${fov/2}</min_angle>
 257                                                         <max_angle>${fov/2}</max_angle>
 258                                                 </vertical>
 259                                         </scan>
 260                                         <range>
 261                                                 <min>${minRange}</min>
 262                                                 <max>${maxRange}</max>
 263                                                 <resolution>0.01</resolution>
 264                                         </range>
 265                                 </ray>
 266                                 <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
 267                                         <gaussianNoise>0.005</gaussianNoise>
 268                                         <alwaysOn>true</alwaysOn>
 269                                         <updateRate>${update_rate}</updateRate>
 270                                         <topicName>${ros_topic}</topicName>
 271                                         <frameName>${name}</frameName>
 272                                         <fov>${fov}</fov>
 273                                         <radiation>${radiation}</radiation>
 274                                 </plugin>
 275                         </sensor>
 276                 </gazebo>
 277         </xacro:macro>
 278
 279         <xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 280         <xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 281         <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" />
 282
 283         <gazebo reference="lidar">
 284                 <sensor type="ray" name="head_rplidar_a2_sensor">
 285                         <pose>0 0 0 0 0 0</pose>
 286                         <visualize>false</visualize>
 287                         <update_rate>12</update_rate>
 288                         <ray>
 289                                 <scan>
 290                                         <horizontal>
 291                                                 <samples>360</samples>
 292                                                 <resolution>1</resolution>
 293                                                 <min_angle>-3.12413907051</min_angle>
 294                                                 <max_angle>3.14159274101</max_angle>
 295                                         </horizontal>
 296                                 </scan>
 297                                 <range>
 298                                         <min>0.20</min>
 299                                         <max>16.0</max>
 300                                         <resolution>0.01</resolution>
 301                                 </range>
 302                                 <noise>
 303                                         <type>gaussian</type>
 304                                         <mean>0.0</mean>
 305                                         <stddev>0.01</stddev>
 306                                 </noise>
 307                         </ray>
 308                         <plugin name="gazebo_ros_head_rplidar_a2_controller" filename="libgazebo_ros_laser.so">
 309                                 <topicName>/scan</topicName>
 310                                 <frameName>lidar</frameName>
 311                         </plugin>
 312                 </sensor>
 313         </gazebo>
 314 </robot>