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 0.0"/>
  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="1.9"/>
  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         </xacro:macro>
 174
 175         <gazebo reference="front_left_wheel">
 176                 <dampingFactor>0.001</dampingFactor>
 177         </gazebo>
 178         <gazebo reference="front_right_wheel">
 179                 <dampingFactor>0.001</dampingFactor>
 180         </gazebo>
 181
 182         <xacro:wheel pos="aft" side="left"  xyz="-0.06398 0.11407 -0.022446" rpy="0 0 0" />
 183         <xacro:wheel pos="aft" side="right" xyz="-0.07397 -0.11408 -0.022446" rpy="0 0 0" />
 184         <xacro:wheel pos="front" side="left"  xyz="0.07602 0.11407 -0.022446" rpy="0 0 0" />
 185         <xacro:wheel pos="front" side="right" xyz="0.07397 -0.11408 -0.022446" rpy="0 0 0" />
 186
 187         <gazebo>
 188                 <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
 189                         <robotNamespace>/</robotNamespace>
 190                         <jointName>aft_left_wheel_joint, aft_right_wheel_joint, front_left_wheel_joint, front_right_wheel_joint</jointName>
 191                         <updateRate>10.0</updateRate>
 192                         <alwaysOn>true</alwaysOn>
 193                 </plugin>
 194
 195                 <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
 196                         <robotNamespace>/</robotNamespace>
 197                         <alwaysOn>true</alwaysOn>
 198                         <updateRate>10.0</updateRate>
 199                         <leftJoint>aft_right_wheel_joint</leftJoint>
 200                         <rightJoint>aft_left_wheel_joint</rightJoint>
 201                         <wheelSeparation>0.252</wheelSeparation>
 202                         <wheelDiameter>0.12</wheelDiameter>
 203                         <wheelTorque>5.0</wheelTorque>
 204                         <commandTopic>cmd_vel</commandTopic>
 205                         <odometryTopic>odom</odometryTopic>
 206                         <odometryFrame>odom</odometryFrame>
 207                         <robotBaseFrame>base_footprint</robotBaseFrame>
 208                         <rosDebugLevel>Info</rosDebugLevel>
 209                         <publishWheelTF>false</publishWheelTF>
 210                         <publishWheelJointState>true</publishWheelJointState>
 211                         <wheelAcceleration>0.0</wheelAcceleration>
 212                         <odometrySource>world</odometrySource>
 213                         <publishTf>true</publishTf>
 214                 </plugin>
 215         </gazebo>
 216 </robot>