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                         <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
  25                         <geometry>
  26                                 <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
  27                         </geometry>
  28                 </visual>
  29                 <inertial>
  30                         <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
  31                         <mass value="2.5"/>
  32                         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  33                 </inertial>
  34         </link>
  35
  36         <link name="base_imu_link">
  37                 <visual>
  38                         <geometry>
  39                                 <box size="0.041 0.028 0.002"/>
  40                         </geometry>
  41                         <material name="red">
  42                                 <color rgba="1 0 0 1"/>
  43                         </material>
  44                 </visual>
  45         </link>
  46
  47         <link name="mounting_plate">
  48                 <visual>
  49                         <geometry>
  50                                 <box size="0.23 0.12 0.001"/>
  51                         </geometry>
  52                 </visual>
  53         </link>
  54
  55         <xacro:asus_camera name="camera" parent="mounting_plate">
  56                 <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
  57         </xacro:asus_camera>
  58
  59         <link name="sonar_forward">
  60                 <visual>
  61                         <geometry>
  62                                 <box size="0.016 0.044 0.02"/>
  63                         </geometry>
  64                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  65                         <material name="green">
  66                                 <color rgba="0 1 0 0.8"/>
  67                         </material>
  68                 </visual>
  69         </link>
  70
  71         <link name="sonar_backward">
  72                 <visual>
  73                         <geometry>
  74                                 <box size="0.016 0.044 0.02"/>
  75                         </geometry>
  76                         <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
  77                         <material name="green">
  78                                 <color rgba="0 1 0 0.8"/>
  79                         </material>
  80                 </visual>
  81         </link>
  82
  83         <link name="ir_left">
  84                 <visual>
  85                         <geometry>
  86                                 <box size="0.015 0.015 0.046"/>
  87                         </geometry>
  88                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
  89                         <material name="black">
  90                                 <color rgba="0 0 0 1"/>
  91                         </material>
  92                 </visual>
  93         </link>
  94
  95         <link name="ir_right">
  96                 <visual>
  97                         <geometry>
  98                                 <box size="0.015 0.015 0.046"/>
  99                         </geometry>
 100                         <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
 101                         <material name="black">
 102                                 <color rgba="0 0 0 1"/>
 103                         </material>
 104                 </visual>
 105         </link>
 106
 107         <joint name="base_link_joint" type="fixed">
 108                 <parent link="base_footprint"/>
 109                 <child link="base_link"/>
 110                 <origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
 111         </joint>
 112
 113         <joint name="mounting_plate_joint" type="fixed">
 114                 <parent link="base_link"/>
 115                 <child link="mounting_plate"/>
 116                 <origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
 117         </joint>
 118
 119         <joint name="imu_joint" type="fixed">
 120                 <parent link="mounting_plate"/>
 121                 <child link="base_imu_link"/>
 122                 <origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
 123         </joint>
 124
 125         <joint name="sonar_forward_joint" type="fixed">
 126                 <parent link="mounting_plate"/>
 127                 <child link="sonar_forward"/>
 128                 <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
 129         </joint>
 130
 131         <joint name="sonar_backward_joint" type="fixed">
 132                 <parent link="mounting_plate"/>
 133                 <child link="sonar_backward"/>
 134                 <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
 135         </joint>
 136
 137         <joint name="ir_left_joint" type="fixed">
 138                 <parent link="mounting_plate"/>
 139                 <child link="ir_left"/>
 140                 <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
 141         </joint>
 142
 143         <joint name="ir_right_joint" type="fixed">
 144                 <parent link="mounting_plate"/>
 145                 <child link="ir_right"/>
 146                 <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
 147         </joint>
 148
 149         <xacro:macro name="wheel" params="pos side xyz rpy">
 150                 <link name="${pos}_${side}_wheel">
 151                         <visual>
 152                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 153                                 <geometry>
 154                                         <mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
 155                                 </geometry>
 156                         </visual>
 157                         <collision>
 158                                 <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
 159                                 <geometry>
 160                                         <cylinder radius="0.06" length="0.06"/>
 161                                 </geometry>
 162                         </collision>
 163                         <inertial>
 164                                 <origin xyz="0 0 0" rpy="0 0 0"/>
 165                                 <mass value="0.1"/>
 166                                 <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
 167                         </inertial>
 168                 </link>
 169
 170                 <gazebo reference="${pos}_${side}_wheel">
 171                         <mu1 value="1.0"/>
 172                         <mu2 value="1.0"/>
 173                         <kp value="1000000.0" />
 174                         <kd value="1.0" />
 175                         <fdir1 value="1 0 0"/>
 176                 </gazebo>
 177
 178                 <joint name="${pos}_${side}_wheel_joint" type="continuous">
 179                         <parent link="base_link"/>
 180                         <child link="${pos}_${side}_wheel"/>
 181                         <axis xyz="0 1 0"/>
 182                         <origin xyz="${xyz}" rpy="${rpy}"/>
 183                 </joint>
 184
 185                 <transmission name="${pos}_${side}_wheel_trans" type="SimpleTransmission">
 186                         <type>transmission_interface/SimpleTransmission</type>
 187                         <joint name="${pos}_${side}_wheel_joint">
 188                                 <hardwareInterface>VelocityJointInterface</hardwareInterface>
 189                         </joint>
 190                         <actuator name="{pos}_${side}_wheel_motor">
 191                                 <mechanicalReduction>1</mechanicalReduction>
 192                         </actuator>
 193                 </transmission>
 194         </xacro:macro>
 195
 196         <xacro:wheel pos="rear" side="left"   xyz="-0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 197         <xacro:wheel pos="rear" side="right"  xyz="-0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 198         <xacro:wheel pos="front" side="left"  xyz=" 0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
 199         <xacro:wheel pos="front" side="right" xyz=" 0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 200
 201         <gazebo>
 202                 <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
 203                         <robotNamespace>/</robotNamespace>
 204                         <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
 205                 </plugin>
 206
 207                 <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
 208                         <alwaysOn>true</alwaysOn>
 209                         <updateRate>20.0</updateRate>
 210                         <bodyName>base_imu_link</bodyName>
 211                         <topicName>imu</topicName>
 212                         <gaussianNoise>0.05</gaussianNoise>
 213                         <frameName>base_imu_link</frameName>
 214                         <xyzOffsets>0 0 0</xyzOffsets>
 215                         <rpyOffset>0 0 0</rpyOffset>
 216                         <serviceName>/default_imu</serviceName>
 217                 </plugin>
 218         </gazebo>
 219
 220         <xacro:macro name="range_sensor" params="name ros_topic update_rate minRange maxRange fov radiation">
 221                 <gazebo reference="${name}">
 222                         <sensor type="ray" name="${name}_sensor">
 223                                 <pose>0 0 0 0 0 0</pose>
 224                                 <update_rate>${update_rate}</update_rate>
 225                                 <visualize>false</visualize>
 226                                 <ray>
 227                                         <scan>
 228                                                 <horizontal>
 229                                                         <samples>5</samples>
 230                                                         <resolution>1</resolution>
 231                                                         <min_angle>-${fov/2}</min_angle>
 232                                                         <max_angle>${fov/2}</max_angle>
 233                                                 </horizontal>
 234                                                 <vertical>
 235                                                         <samples>5</samples>
 236                                                         <resolution>1</resolution>
 237                                                         <min_angle>-${fov/2}</min_angle>
 238                                                         <max_angle>${fov/2}</max_angle>
 239                                                 </vertical>
 240                                         </scan>
 241                                         <range>
 242                                                 <min>${minRange}</min>
 243                                                 <max>${maxRange}</max>
 244                                                 <resolution>0.01</resolution>
 245                                         </range>
 246                                 </ray>
 247                                 <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
 248                                         <gaussianNoise>0.005</gaussianNoise>
 249                                         <alwaysOn>true</alwaysOn>
 250                                         <updateRate>${update_rate}</updateRate>
 251                                         <topicName>${ros_topic}</topicName>
 252                                         <frameName>${name}</frameName>
 253                                         <fov>${fov}</fov>
 254                                         <radiation>${radiation}</radiation>
 255                                 </plugin>
 256                         </sensor>
 257                 </gazebo>
 258         </xacro:macro>
 259
 260         <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 261         <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
 262         <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 263         <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 264 </robot>