<link name="base_footprint">
<visual>
<geometry>
- <box size="0.28 0.31 0.0"/>
+ <box size="0.28 0.31 0.000001"/>
</geometry>
<material name="grey">
<color rgba="0.5 0.5 0.5 0.5"/>
</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>
<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
</xacro:asus_camera>
- <link name="sonar_forward">
+ <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>
+ </visual>
+ </link>
+
+ <link name="sonar_forward_right">
<visual>
<geometry>
<box size="0.016 0.044 0.02"/>
<origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
</joint>
- <joint name="sonar_forward_joint" type="fixed">
+ <joint name="sonar_forward_left_joint" type="fixed">
+ <parent link="mounting_plate"/>
+ <child link="sonar_forward_left"/>
+ <origin xyz="0.115 0.05 -0.012" rpy="0 ${-10*PI/180} 0"/>
+ </joint>
+
+ <joint name="sonar_forward_right_joint" type="fixed">
<parent link="mounting_plate"/>
- <child link="sonar_forward"/>
- <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+ <child link="sonar_forward_right"/>
+ <origin xyz="0.115 -0.05 -0.012" rpy="0 ${-10*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 ${-170*PI/180} 0"/>
</joint>
<joint name="ir_left_joint" type="fixed">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.1"/>
- <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+ <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.005" iyz="0" izz="0.005"/>
</inertial>
</link>
+
+ <gazebo reference="${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}_${side}_wheel"/>
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="{pos}_${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">
<frameName>base_imu_link</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffset>0 0 0</rpyOffset>
+ <serviceName>/default_imu</serviceName>
</plugin>
</gazebo>
</gazebo>
</xacro:macro>
- <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*PI/180}" radiation="ultrasound" />
- <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*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>