<?xml version="1.0"?>
<robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
- <xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
+
+ <material name="wtgrey">
+ <color rgba="0.5 0.5 0.5 0.5"/>
+ </material>
+ <material name="wtred">
+ <color rgba="1 0 0 1"/>
+ </material>
+ <material name="wtblack">
+ <color rgba="0 0 0 1"/>
+ </material>
+ <material name="wtgreen">
+ <color rgba="0 1 0 0.8"/>
+ </material>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.28 0.31 0.000001"/>
</geometry>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 0.5"/>
- </material>
+ <material name="wtgrey"/>
</visual>
</link>
<link name="base_link">
<collision>
<geometry>
- <box size="0.23 0.18 0.09"/>
+ <box size="0.23 0.12 0.09"/>
</geometry>
</collision>
<visual>
<inertial>
<origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
<mass value="2.5"/>
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ <inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
</inertial>
</link>
<geometry>
<box size="0.041 0.028 0.002"/>
</geometry>
- <material name="red">
- <color rgba="1 0 0 1"/>
- </material>
+ <material name="wtred"/>
</visual>
</link>
</visual>
</link>
- <xacro:asus_camera name="camera" parent="mounting_plate">
- <origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
- </xacro:asus_camera>
-
- <link name="sonar_forward_left">
+ <link name="lidar">
<visual>
<geometry>
- <box size="0.016 0.044 0.02"/>
+ <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
</geometry>
- <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
- <material name="green">
- <color rgba="0 1 0 0.8"/>
- </material>
+ <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+ <material name="wtblack"/>
</visual>
</link>
- <link name="sonar_forward_right">
+ <link name="sonar_forward_left">
<visual>
<geometry>
<box size="0.016 0.044 0.02"/>
</geometry>
<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
- <material name="green">
- <color rgba="0 1 0 0.8"/>
- </material>
+ <material name="wtgreen"/>
</visual>
</link>
- <link name="sonar_backward">
+ <link name="sonar_forward_right">
<visual>
<geometry>
<box size="0.016 0.044 0.02"/>
</geometry>
<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
- <material name="green">
- <color rgba="0 1 0 0.8"/>
- </material>
+ <material name="wtgreen"/>
</visual>
</link>
- <link name="ir_left">
+ <link name="sonar_backward">
<visual>
<geometry>
- <box size="0.015 0.015 0.046"/>
+ <box size="0.016 0.044 0.02"/>
</geometry>
- <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="wtgreen"/>
</visual>
</link>
- <link name="ir_right">
+ <link name="antenna">
<visual>
<geometry>
- <box size="0.015 0.015 0.046"/>
+ <cylinder radius="0.006" length="0.165"/>
</geometry>
- <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
+ <origin xyz="0 0 0.0825" rpy="0 0 0"/>
+ <material name="wtblack"/>
</visual>
</link>
<joint name="sonar_forward_left_joint" type="fixed">
<parent link="mounting_plate"/>
<child link="sonar_forward_left"/>
- <origin xyz="0.115 -0.04 -0.012" rpy="0 0 0"/>
+ <origin xyz="0.115 0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
</joint>
<joint name="sonar_forward_right_joint" type="fixed">
<parent link="mounting_plate"/>
<child link="sonar_forward_right"/>
- <origin xyz="0.115 0.04 -0.012" rpy="0 0 0"/>
+ <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
</joint>
<joint name="sonar_backward_joint" type="fixed">
<parent link="mounting_plate"/>
<child link="sonar_backward"/>
- <origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+ <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
</joint>
- <joint name="ir_left_joint" type="fixed">
+ <joint name="antenna_joint" type="fixed">
<parent link="mounting_plate"/>
- <child link="ir_left"/>
- <origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+ <child link="antenna"/>
+ <origin xyz="0.011 0.0588 0" rpy="0 0 0"/>
</joint>
- <joint name="ir_right_joint" type="fixed">
+ <joint name="lidar_joint" type="fixed">
<parent link="mounting_plate"/>
- <child link="ir_right"/>
- <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+ <child link="lidar"/>
+ <origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
</joint>
<xacro:macro name="wheel" params="pos side xyz rpy">
</geometry>
</visual>
<collision>
- <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
+ <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
<geometry>
<cylinder radius="0.06" length="0.06"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
- <mass value="0.1"/>
- <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
+ <mass value="0.2"/>
+ <inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
</inertial>
</link>
<gazebo reference="${pos}_${side}_wheel">
<mu1 value="1.0"/>
- <mu2 value="1.0"/>
- <kp value="1000000.0" />
- <kd value="1.0" />
- <fdir1 value="1 0 0"/>
+ <mu2 value="0.2"/>
+ <kp value="1000000000000.0" />
+ <kd value="0.0" />
+ <fdir1 value="0 1 0"/>
+ <minDepth>0.005</minDepth>
</gazebo>
<joint name="${pos}_${side}_wheel_joint" type="continuous">
</gazebo>
</xacro:macro>
- <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+ <xacro:range_sensor name="sonar_forward_left" ros_topic="range_forward_left" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+ <xacro:range_sensor name="sonar_forward_right" ros_topic="range_forward_right" update_rate="10" minRange="0.04" maxRange="0.5" fov="${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" />
+
+ <gazebo reference="lidar">
+ <sensor type="ray" name="head_rplidar_a2_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>false</visualize>
+ <update_rate>12</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>-3.12413907051</min_angle>
+ <max_angle>3.14159274101</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.20</min>
+ <max>16.0</max>
+ <resolution>0.01</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_head_rplidar_a2_controller" filename="libgazebo_ros_laser.so">
+ <topicName>/scan</topicName>
+ <frameName>lidar</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
</robot>
projects / ros_wild_thumper.git / blobdiff