switch from xtion 3d camera to rplidar

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index a1abfafe009aad3d99ed5889f5ad9cbb39267ed4..834a5881c80f59bce59aff9befcfd9c5027a0c7e 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -57,4 +57,17 @@
 
        <node pkg="wild_thumper" type="sensor_board.py" name="sensor_board" output="screen"/>
        <node pkg="wild_thumper" type="ledstripe.rb" name="led_stripe" output="screen"/>
+
+       <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
+               <param name="serial_port"         type="string" value="/dev/rplidar"/>
+               <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
+               <param name="frame_id"            type="string" value="lidar"/>
+               <param name="angle_compensate"    type="bool"   value="true"/>
+               <param name="scan_mode"           type="string" value="Standard"/>
+               <!--
+               A2 scan_modes:
+               Standard: max_distance: 16.0 m, Point number: 2.0K
+               Express: max_distance: 16.0 m, Point number: 4.0K
+                -->
+       </node>
 </launch>

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 8be843c4b6f126915e960f46af5d73aba252a708..5d5f9b7b23366dc5d5e8c2279e16bd26a01db062 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
        <xacro:property name="PI" value="3.1415926535897931" />
-       <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
 
        <link name="base_footprint">
                <visual>
@@ -52,9 +51,17 @@
                </visual>
        </link>
 
-       <xacro:asus_camera name="camera" parent="mounting_plate">
-               <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
-       </xacro:asus_camera>
+       <link name="lidar">
+               <visual>
+                       <geometry>
+                               <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
+                       </geometry>
+                       <origin xyz="0.0 0.0 ${0.0408/2}" rpy="0 0 0"/>
+                       <material name="black">
+                               <color rgba="0 0 0 1"/>
+                       </material>
+               </visual>
+       </link>
 
        <link name="sonar_forward_left">
                <visual>
@@ -92,30 +99,6 @@
                </visual>
        </link>
 
-       <link name="ir_left">
-               <visual>
-                       <geometry>
-                               <box size="0.015 0.015 0.046"/>
-                       </geometry>
-                       <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
-       <link name="ir_right">
-               <visual>
-                       <geometry>
-                               <box size="0.015 0.015 0.046"/>
-                       </geometry>
-                       <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
-               </visual>
-       </link>
-
        <joint name="base_link_joint" type="fixed">
                <parent link="base_footprint"/>
                <child link="base_link"/>
@@ -152,16 +135,10 @@
                <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
        </joint>
 
-       <joint name="ir_left_joint" type="fixed">
-               <parent link="mounting_plate"/>
-               <child link="ir_left"/>
-               <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
-       </joint>
-
-       <joint name="ir_right_joint" type="fixed">
+       <joint name="lidar_joint" type="fixed">
                <parent link="mounting_plate"/>
-               <child link="ir_right"/>
-               <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+               <child link="lidar"/>
+               <origin xyz="0.075 0.01 0.0" rpy="0 0 ${-110*PI/180}"/>
        </joint>
 
        <xacro:macro name="wheel" params="pos side xyz rpy">