remove ir sensors

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

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 2f00fd63efd18c6e3fc73169f1321d417d51048f..9c929e55f18da1db3dbd13aae9da7d2b9bc78d0d 100644 (file)
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -2,21 +2,32 @@
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
        <xacro:property name="PI" value="3.1415926535897931" />
 
+       <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>
@@ -28,7 +39,7 @@
                <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>
 
@@ -37,9 +48,7 @@
                        <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>
 
@@ -56,10 +65,8 @@
                        <geometry>
                                <mesh filename="package://wild_thumper/meshes/rplidar_a2.stl" scale="0.001 0.001 0.001"/>
                        </geometry>
-                       <origin xyz="0.0 0.0 ${0.0408/2}" rpy="0 0 0"/>
-                       <material name="black">
-                               <color rgba="0 0 0 1"/>
-                       </material>
+                       <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
+                       <material name="wtblack"/>
                </visual>
        </link>
 
@@ -69,9 +76,7 @@
                                <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>
 
@@ -81,9 +86,7 @@
                                <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>
 
@@ -93,10 +96,24 @@
                                <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="antenna">
+               <visual>
+                       <geometry>
+                               <cylinder radius="0.006" length="0.165"/>
+                       </geometry>
+                       <origin xyz="0 0 0.0825" rpy="0 0 0"/>
+                       <material name="wtblack"/>
                </visual>
+               <collision>
+                       <geometry>
+                               <cylinder radius="0.008" length="0.17"/>
+                       </geometry>
+                       <origin xyz="0 0 0.085" rpy="0 0 0"/>
+               </collision>
        </link>
 
        <joint name="base_link_joint" type="fixed">
@@ -135,10 +152,16 @@
                <origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
        </joint>
 
+       <joint name="antenna_joint" type="fixed">
+               <parent link="mounting_plate"/>
+               <child link="antenna"/>
+               <origin xyz="0.011 0.05 0" rpy="0 0 0"/>
+       </joint>
+
        <joint name="lidar_joint" type="fixed">
                <parent link="mounting_plate"/>
                <child link="lidar"/>
-               <origin xyz="0.075 0.01 0.0" rpy="0 0 ${-110*PI/180}"/>
+               <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">   
@@ -150,24 +173,25 @@
                                </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">
@@ -252,10 +276,9 @@
                </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">
@@ -272,7 +295,7 @@
                                        </horizontal>
                                </scan>
                                <range>
-                                       <min>0.15</min>
+                                       <min>0.20</min>
                                        <max>16.0</max>
                                        <resolution>0.01</resolution>
                                </range>