<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>
- <mass value="1.9"/>
+ <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>
</link>
<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"/>
- <origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+ <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_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}_${side}_wheel"/>
<axis xyz="0 1 0"/>
<origin xyz="${xyz}" rpy="${rpy}"/>
</joint>
- </xacro:macro>
- <gazebo reference="front_left_wheel">
- <dampingFactor>0.001</dampingFactor>
- </gazebo>
- <gazebo reference="front_right_wheel">
- <dampingFactor>0.001</dampingFactor>
- </gazebo>
+ <transmission name="${pos}_${side}_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${pos}_${side}_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="{pos}_${side}_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ </xacro:macro>
- <xacro:wheel pos="aft" side="left" xyz="-0.06398 0.11407 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="aft" side="right" xyz="-0.07397 -0.11408 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="front" side="left" xyz="0.07602 0.11407 -0.022446" rpy="0 0 0" />
- <xacro:wheel pos="front" side="right" xyz="0.07397 -0.11408 -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="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
+ <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
- <jointName>aft_left_wheel_joint, aft_right_wheel_joint, front_left_wheel_joint, front_right_wheel_joint</jointName>
- <updateRate>10.0</updateRate>
- <alwaysOn>true</alwaysOn>
+ <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
</plugin>
- <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
- <robotNamespace>/</robotNamespace>
+ <plugin name="imu_controller" filename="libgazebo_ros_imu.so">
<alwaysOn>true</alwaysOn>
- <updateRate>10.0</updateRate>
- <leftJoint>aft_right_wheel_joint</leftJoint>
- <rightJoint>aft_left_wheel_joint</rightJoint>
- <wheelSeparation>0.252</wheelSeparation>
- <wheelDiameter>0.12</wheelDiameter>
- <wheelTorque>5.0</wheelTorque>
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <robotBaseFrame>base_footprint</robotBaseFrame>
- <rosDebugLevel>Info</rosDebugLevel>
- <publishWheelTF>false</publishWheelTF>
- <publishWheelJointState>true</publishWheelJointState>
- <wheelAcceleration>0.0</wheelAcceleration>
- <odometrySource>world</odometrySource>
- <publishTf>true</publishTf>
+ <updateRate>20.0</updateRate>
+ <bodyName>base_imu_link</bodyName>
+ <topicName>imu</topicName>
+ <gaussianNoise>0.05</gaussianNoise>
+ <frameName>base_imu_link</frameName>
+ <xyzOffsets>0 0 0</xyzOffsets>
+ <rpyOffset>0 0 0</rpyOffset>
+ <serviceName>/default_imu</serviceName>
</plugin>
</gazebo>
+
+ <xacro:macro name="range_sensor" params="name ros_topic update_rate minRange maxRange fov radiation">
+ <gazebo reference="${name}">
+ <sensor type="ray" name="${name}_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <update_rate>${update_rate}</update_rate>
+ <visualize>false</visualize>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>5</samples>
+ <resolution>1</resolution>
+ <min_angle>-${fov/2}</min_angle>
+ <max_angle>${fov/2}</max_angle>
+ </horizontal>
+ <vertical>
+ <samples>5</samples>
+ <resolution>1</resolution>
+ <min_angle>-${fov/2}</min_angle>
+ <max_angle>${fov/2}</max_angle>
+ </vertical>
+ </scan>
+ <range>
+ <min>${minRange}</min>
+ <max>${maxRange}</max>
+ <resolution>0.01</resolution>
+ </range>
+ </ray>
+ <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
+ <gaussianNoise>0.005</gaussianNoise>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>${update_rate}</updateRate>
+ <topicName>${ros_topic}</topicName>
+ <frameName>${name}</frameName>
+ <fov>${fov}</fov>
+ <radiation>${radiation}</radiation>
+ </plugin>
+ </sensor>
+ </gazebo>
+ </xacro:macro>
+
+ <xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${20*PI/180}" radiation="ultrasound" />
+ <xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="0.5" fov="${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>
projects / ros_wild_thumper.git / blobdiff