From: Erik Andresen <erik@vontaene.de>
Date: Sun, 12 Oct 2014 14:12:33 +0000 (+0200)
Subject: urdf modifications
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=59aa8070d143dfe926defadfd3364d0c2185fef1;p=arm_ros_conn.git

urdf modifications
---

diff --git a/arm.launch b/arm.launch
index 2ea8f39..03255e2 100644
--- a/arm.launch
+++ b/arm.launch
@@ -8,7 +8,6 @@
 		<param name="output_frame_id" value="/scan" />
 	</node>
 
-	<param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
-
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>
diff --git a/config/base_local_planner_params.yaml b/config/base_local_planner_params.yaml
index d046846..ae71582 100644
--- a/config/base_local_planner_params.yaml
+++ b/config/base_local_planner_params.yaml
@@ -1,12 +1,12 @@
 TrajectoryPlannerROS:
-  max_vel_x: 0.20
-  min_vel_x: 0.20
-  max_vel_theta: 1.5
-  min_vel_theta: 0.8
-  min_in_place_vel_theta: 0.8
+  max_vel_x: 0.50
+  min_vel_x: 0.10
+  max_vel_theta: 1.0
+  min_vel_theta: -1.0
+  min_in_place_vel_theta: 0.4
 
-  acc_lim_x: 180
-  acc_lim_y: 0.0
-  acc_lim_th: 620
+  acc_lim_x: 2.5
+  acc_lim_y: 2.5
+  acc_lim_theta: 3.2
 
   holonomic_robot: false
diff --git a/urdf/arm.urdf b/urdf/arm.urdf
deleted file mode 100644
index 99e6dac..0000000
--- a/urdf/arm.urdf
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<robot name="arm">
-	<link name="base_link">
-		<visual>
-			<geometry>
-				<box size="0.30 0.22 0.015"/>
-			</geometry>
-			<origin xyz="0.08 0 0.095" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0.0 0.0 0.0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="front_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="aft_left_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<link name="aft_right_wheel">
-		<visual>
-			<geometry>
-				<cylinder radius="0.025" length="0.002"/>
-			</geometry>
-			<origin xyz="0 0 0" rpy="1.57 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
-		</visual>
-	</link>
-
-	<joint name="front_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="front_wheel"/>
-		<origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="aft_left_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_left_wheel"/>
-		<origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
-	</joint>
-
-	<joint name="aft_right_wheel_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="aft_right_wheel"/>
-		<origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
-	</joint>
-</robot>
diff --git a/urdf/arm.urdf.xacro b/urdf/arm.urdf.xacro
new file mode 100644
index 0000000..8e7b3d5
--- /dev/null
+++ b/urdf/arm.urdf.xacro
@@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+<robot name="arm" xmlns:xacro="http://ros.org/wiki/xacro">
+	<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+	<link name="base_link">
+		<visual>
+			<geometry>
+				<box size="0.30 0.22 0.015"/>
+			</geometry>
+			<origin xyz="0.08 0 0.095" rpy="0 0 0"/>
+			<material name="black">
+				<color rgba="0.0 0.0 0.0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="front_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.025" length="0.002"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="1.57 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="aft_left_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.025" length="0.002"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="1.57 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<link name="aft_right_wheel">
+		<visual>
+			<geometry>
+				<cylinder radius="0.025" length="0.002"/>
+			</geometry>
+			<origin xyz="0 0 0" rpy="1.57 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
+			</material>
+		</visual>
+	</link>
+
+	<xacro:asus_camera name="camera" parent="base_link">
+		<origin xyz="0.195 0.0 0.165" rpy="0 0 0"/>
+	</xacro:asus_camera>
+
+	<link name="scan">
+	</link>
+
+	<joint name="scan_joint" type="fixed">
+		<parent link="camera_depth_frame"/>
+		<child link="scan"/>
+		<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="front_wheel_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="front_wheel"/>
+		<origin xyz="0.17 0.0 0.025" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="aft_left_wheel_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="aft_left_wheel"/>
+		<origin xyz="0.0 0.05 0.025" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="aft_right_wheel_joint" type="fixed">
+		<parent link="base_link"/>
+		<child link="aft_right_wheel"/>
+		<origin xyz="0.0 -0.05 0.025" rpy="0 0 0"/>
+	</joint>
+</robot>