fix simulation

[ros_wild_thumper.git] / urdf / wild_thumper.urdf.xacro

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 1bd641e23a0a12bc4f9d22e76627abc646ea88f5..f84e201314ddb72307d1042b9f5cee7f38d5c7b5 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -21,11 +21,13 @@
                        </geometry>
                </collision>
                <visual>
+                       <origin xyz="-0.00275 0 0" rpy="0 0 0"/>
                        <geometry>
                                <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
                        </geometry>
                </visual>
                <inertial>
+                       <origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
                        <mass value="2.5"/>
                        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
                </inertial>
@@ -161,9 +163,18 @@
                        <inertial>
                                <origin xyz="0 0 0" rpy="0 0 0"/>
                                <mass value="0.1"/>
-                               <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+                               <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
                        </inertial>
                </link>
+
+               <gazebo reference="${pos}_${side}_wheel">
+                       <mu1 value="1.0"/>
+                       <mu2 value="1.0"/>
+                       <kp value="1000000.0" />
+                       <kd value="1.0" />
+                       <fdir1 value="1 0 0"/>
+               </gazebo>
+
                <joint name="${pos}_${side}_wheel_joint" type="continuous">
                        <parent link="base_link"/>
                        <child link="${pos}_${side}_wheel"/>
@@ -177,16 +188,15 @@
                                <hardwareInterface>VelocityJointInterface</hardwareInterface>
                        </joint>
                        <actuator name="{pos}_${side}_wheel_motor">
-                               <hardwareInterface>VelocityJointInterface</hardwareInterface>
                                <mechanicalReduction>1</mechanicalReduction>
                        </actuator>
                </transmission>
        </xacro:macro>
 
-       <xacro:wheel pos="rear" side="left"  xyz="-0.06398 0.114 -0.022446" rpy="0 0 0" />
-       <xacro:wheel pos="rear" side="right" xyz="-0.07397 -0.114 -0.022446" rpy="0 0 0" />
-       <xacro:wheel pos="front" side="left"  xyz="0.07602 0.114 -0.022446" rpy="0 0 0" />
-       <xacro:wheel pos="front" side="right" xyz="0.07397 -0.114 -0.022446" rpy="0 0 0" />
+       <xacro:wheel pos="rear" side="left"   xyz="-0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
+       <xacro:wheel pos="rear" side="right"  xyz="-0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
+       <xacro:wheel pos="front" side="left"  xyz=" 0.07525  0.12 -0.025" rpy="${-5*PI/180} 0 0" />
+       <xacro:wheel pos="front" side="right" xyz=" 0.07525 -0.12 -0.025" rpy="${5*PI/180} 0 0" />
 
        <gazebo>
                <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
@@ -203,6 +213,7 @@
                        <frameName>base_imu_link</frameName>
                        <xyzOffsets>0 0 0</xyzOffsets>
                        <rpyOffset>0 0 0</rpyOffset>
+                       <serviceName>/default_imu</serviceName>
                </plugin>
        </gazebo>
 
@@ -246,8 +257,8 @@
                </gazebo>
        </xacro:macro>
 
-       <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
-       <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
+       <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+       <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
        <xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
        <xacro:range_sensor name="ir_right" ros_topic="range_right" update_rate="10" minRange="0.04" maxRange="0.3" fov="${5*PI/180}" radiation="infrared" />
 </robot>