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         <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
   5
   6         <link name="base_footprint">
   7                 <visual>
   8                         <geometry>
   9                                 <box size="0.28 0.31 0.000001"/>
  10                         </geometry>
  11                         <material name="grey">
  12                                 <color rgba="0.5 0.5 0.5 0.5"/>
  13                         </material>
  14                 </visual>
  15         </link>
  16
  17         <link name="base_link">
  18                 <collision>
  19                         <geometry>
  20                                 <box size="0.23 0.18 0.09"/>
  21                         </geometry>
  22                 </collision>
  23                 <visual>
  24                         <geometry>
  25                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
  26                         </geometry>
  27                 </visual>
  28                 <inertial>
  29                         <mass value="2.5"/>
  30                         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  31                 </inertial>
  32         </link>
  33
  34         <link name="base_imu_link">
  35                 <visual>
  36                         <geometry>
  37                                 <box size="0.041 0.028 0.002"/>
  38                         </geometry>
  39                         <material name="red">
  40                                 <color rgba="1 0 0 1"/>
  41                         </material>
  42                 </visual>
  43         </link>
  44
  45         <link name="mounting_plate">
  46                 <visual>
  47                         <geometry>
  48                                 <box size="0.23 0.12 0.001"/>
  49                         </geometry>
  50                 </visual>
  51         </link>
  52
  53         <xacro:asus_camera name="camera" parent="mounting_plate">
  54                 <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
  55         </xacro:asus_camera>
  56
  57         <link name="sonar_forward">
  58                 <visual>
  59                         <geometry>
  60                                 <box size="0.016 0.044 0.02"/>
  61                         </geometry>
  62                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  63                         <material name="green">
  64                                 <color rgba="0 1 0 0.8"/>
  65                         </material>
  66                 </visual>
  67         </link>
  68
  69         <link name="sonar_backward">
  70                 <visual>
  71                         <geometry>
  72                                 <box size="0.016 0.044 0.02"/>
  73                         </geometry>
  74                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  75                         <material name="green">
  76                                 <color rgba="0 1 0 0.8"/>
  77                         </material>
  78                 </visual>
  79         </link>
  80
  81         <link name="ir_left">
  82                 <visual>
  83                         <geometry>
  84                                 <box size="0.015 0.015 0.046"/>
  85                         </geometry>
  86                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
  87                         <material name="black">
  88                                 <color rgba="0 0 0 1"/>
  89                         </material>
  90                 </visual>
  91         </link>
  92
  93         <link name="ir_right">
  94                 <visual>
  95                         <geometry>
  96                                 <box size="0.015 0.015 0.046"/>
  97                         </geometry>
  98                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
  99                         <material name="black">
 100                                 <color rgba="0 0 0 1"/>
 101                         </material>
 102                 </visual>
 103         </link>
 104
 105         <joint name="base_link_joint" type="fixed">
 106                 <parent link="base_footprint"/>
 107                 <child link="base_link"/>
 108                 <origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
 109         </joint>
 110
 111         <joint name="mounting_plate_joint" type="fixed">
 112                 <parent link="base_link"/>
 113                 <child link="mounting_plate"/>
 114                 <origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
 115         </joint>
 116
 117         <joint name="imu_joint" type="fixed">
 118                 <parent link="mounting_plate"/>
 119                 <child link="base_imu_link"/>
 120                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
 121         </joint>
 122
 123         <joint name="sonar_forward_joint" type="fixed">
 124                 <parent link="mounting_plate"/>
 125                 <child link="sonar_forward"/>
 126                 <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
 127         </joint>
 128
 129         <joint name="sonar_backward_joint" type="fixed">
 130                 <parent link="mounting_plate"/>
 131                 <child link="sonar_backward"/>
 132                 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
 133         </joint>
 134
 135         <joint name="ir_left_joint" type="fixed">
 136                 <parent link="mounting_plate"/>
 137                 <child link="ir_left"/>
 138                 <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
 139         </joint>
 140
 141         <joint name="ir_right_joint" type="fixed">
 142                 <parent link="mounting_plate"/>
 143                 <child link="ir_right"/>
 144                 <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
 145         </joint>
 146
 147         <xacro:macro name="wheel" params="pos side xyz rpy">
 148                 <link name="${pos}_${side}_wheel">
 149                         <visual>
 150                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 151                                 <geometry>
 152                                         <mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
 153                                 </geometry>
 154                         </visual>
 155                         <collision>
 156                                 <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
 157                                 <geometry>
 158                                         <cylinder radius="0.06" length="0.06"/>
 159                                 </geometry>
 160                         </collision>
 161                         <inertial>
 162                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 163                                 <mass value="0.1"/>
 164                                 <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
 165                         </inertial>
 166                 </link>
 167                 <joint name="${pos}_${side}_wheel_joint" type="continuous">
 168                         <parent link="base_link"/>
 169                         <child link="${pos}_${side}_wheel"/>
 170                         <axis xyz="0 1 0"/>
 171                         <origin xyz="${xyz}" rpy="${rpy}"/>
 172                 </joint>
 173
 174                 <transmission name="${pos}_${side}_wheel_trans" type="SimpleTransmission">
 175                         <type>transmission_interface/SimpleTransmission</type>
 176                         <joint name="${pos}_${side}_wheel_joint">
 177                                 <hardwareInterface>VelocityJointInterface</hardwareInterface>
 178                         </joint>
 179                         <actuator name="{pos}_${side}_wheel_motor">
 180                                 <hardwareInterface>VelocityJointInterface</hardwareInterface>
 181                                 <mechanicalReduction>1</mechanicalReduction>
 182                         </actuator>
 183                 </transmission>
 184         </xacro:macro>
 185
 186         <xacro:wheel pos="rear" side="left"  xyz="-0.06398 0.114 -0.022446" rpy="0 0 0" />
 187         <xacro:wheel pos="rear" side="right" xyz="-0.07397 -0.114 -0.022446" rpy="0 0 0" />
 188         <xacro:wheel pos="front" side="left"  xyz="0.07602 0.114 -0.022446" rpy="0 0 0" />
 189         <xacro:wheel pos="front" side="right" xyz="0.07397 -0.114 -0.022446" rpy="0 0 0" />
 190
 191         <gazebo>
 192                 <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 193                         <robotNamespace>/</robotNamespace>
 194                         <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
 195                 </plugin>
 196
 197                 <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
 198                         <alwaysOn>true</alwaysOn>
 199                         <updateRate>20.0</updateRate>
 200                         <bodyName>base_imu_link</bodyName>
 201                         <topicName>imu</topicName>
 202                         <gaussianNoise>0.05</gaussianNoise>
 203                         <frameName>base_imu_link</frameName>
 204                         <xyzOffsets>0 0 0</xyzOffsets>
 205                         <rpyOffset>0 0 0</rpyOffset>
 206                 </plugin>
 207         </gazebo>
 208
 209         <xacro:macro name="range_sensor" params="name ros_topic update_rate minRange maxRange fov radiation">
 210                 <gazebo reference="${name}">
 211                         <sensor type="ray" name="${name}_sensor">
 212                                 <pose>0 0 0 0 0 0</pose>
 213                                 <update_rate>${update_rate}</update_rate>
 214                                 <visualize>false</visualize>
 215                                 <ray>
 216                                         <scan>
 217                                                 <horizontal>
 218                                                         <samples>5</samples>
 219                                                         <resolution>1</resolution>
 220                                                         <min_angle>-${fov/2}</min_angle>
 221                                                         <max_angle>${fov/2}</max_angle>
 222                                                 </horizontal>
 223                                                 <vertical>
 224                                                         <samples>5</samples>
 225                                                         <resolution>1</resolution>
 226                                                         <min_angle>-${fov/2}</min_angle>
 227                                                         <max_angle>${fov/2}</max_angle>
 228                                                 </vertical>
 229                                         </scan>
 230                                         <range>
 231                                                 <min>${minRange}</min>
 232                                                 <max>${maxRange}</max>
 233                                                 <resolution>0.01</resolution>
 234                                         </range>
 235                                 </ray>
 236                                 <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
 237                                         <gaussianNoise>0.005</gaussianNoise>
 238                                         <alwaysOn>true</alwaysOn>
 239                                         <updateRate>${update_rate}</updateRate>
 240                                         <topicName>${ros_topic}</topicName>
 241                                         <frameName>${name}</frameName>
 242                                         <fov>${fov}</fov>
 243                                         <radiation>${radiation}</radiation>
 244                                 </plugin>
 245                         </sensor>
 246                 </gazebo>
 247         </xacro:macro>
 248
 249         <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
 250         <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
 251         <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 252         <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 253 </robot>