<?xml version="1.0"?>
-<robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
- <link name="base_link">
+ <link name="base_footprint">
<visual>
- <origin xyz="0.09 -0.02 0.07" rpy="${PI} 0 ${-PI/2}"/>
<geometry>
- <mesh filename="package://wild_thumper/meshes/wild_thumper_assembly_corrected.stl" scale="0.001 0.001 0.001" />
+ <box size="0.28 0.31 0.0"/>
</geometry>
+ <material name="grey">
+ <color rgba="0.5 0.5 0.5 0.5"/>
+ </material>
</visual>
</link>
- <link name="base_footprint">
+ <link name="base_link">
+ <collision>
+ <geometry>
+ <box size="0.23 0.18 0.09"/>
+ </geometry>
+ </collision>
<visual>
<geometry>
- <box size="0.28 0.31 0.0"/>
+ <mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
</geometry>
- <material name="grey">
- <color rgba="0.5 0.5 0.5 0.5"/>
- </material>
</visual>
+ <inertial>
+ <mass value="1.9"/>
+ <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+ </inertial>
</link>
<link name="base_imu_link">
</visual>
</link>
- <xacro:asus_camera name="camera" parent="base_link">
+ <link name="mounting_plate">
+ <visual>
+ <geometry>
+ <box size="0.23 0.12 0.001"/>
+ </geometry>
+ </visual>
+ </link>
+
+ <xacro:asus_camera name="camera" parent="mounting_plate">
<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
</xacro:asus_camera>
- <joint name="imu_joint" type="fixed">
+ <link name="sonar_forward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${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_backward">
+ <visual>
+ <geometry>
+ <box size="0.016 0.044 0.02"/>
+ </geometry>
+ <origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+ <material name="green">
+ <color rgba="0 1 0 0.8"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_left">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <link name="ir_right">
+ <visual>
+ <geometry>
+ <box size="0.015 0.015 0.046"/>
+ </geometry>
+ <origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
+ <material name="black">
+ <color rgba="0 0 0 1"/>
+ </material>
+ </visual>
+ </link>
+
+ <joint name="base_link_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="mounting_plate_joint" type="fixed">
<parent link="base_link"/>
+ <child link="mounting_plate"/>
+ <origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
+ </joint>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="mounting_plate"/>
<child link="base_imu_link"/>
<origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
</joint>
- <joint name="base_link_joint" type="fixed">
- <parent link="base_footprint"/>
- <child link="base_link"/>
- <origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
+ <joint name="sonar_forward_joint" type="fixed">
+ <parent link="mounting_plate"/>
+ <child link="sonar_forward"/>
+ <origin xyz="0.115 0.0 -0.012" rpy="0 0 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"/>
</joint>
+
+ <joint name="ir_left_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}"/>
+ </joint>
+
+ <joint name="ir_right_joint" type="fixed">
+ <parent link="mounting_plate"/>
+ <child link="ir_right"/>
+ <origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
+ </joint>
+
+ <xacro:macro name="wheel" params="pos side xyz rpy">
+ <link name="${pos}_${side}_wheel">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
+ <geometry>
+ <cylinder radius="0.06" length="0.06"/>
+ </geometry>
+ </collision>
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="0.1"/>
+ <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+ </inertial>
+ </link>
+ <joint name="${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>
+
+ <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" />
+
+ <gazebo>
+ <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.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>
+ </plugin>
+
+ <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+ <robotNamespace>/</robotNamespace>
+ <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>
+ </plugin>
+ </gazebo>
</robot>
projects / ros_wild_thumper.git / blobdiff