X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=2f00fd63efd18c6e3fc73169f1321d417d51048f;hp=f84e201314ddb72307d1042b9f5cee7f38d5c7b5;hb=bffac8ddbf2335bac9201adff17b1939201d0a4e;hpb=47414c87ea933baa2f6b16d30acaca48b7636af2

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index f84e201..2f00fd6 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,7 +1,6 @@
 <?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" />
 
 	<link name="base_footprint">
 		<visual>
@@ -52,23 +51,19 @@
 		</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">
+	<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"/>
+			<origin xyz="0.0 0.0 ${0.0408/2}" rpy="0 0 0"/>
+			<material name="black">
+				<color rgba="0 0 0 1"/>
 			</material>
 		</visual>
 	</link>
 
-	<link name="sonar_backward">
+	<link name="sonar_forward_left">
 		<visual>
 			<geometry>
 				<box size="0.016 0.044 0.02"/>
@@ -80,26 +75,26 @@
 		</visual>
 	</link>
 
-	<link name="ir_left">
+	<link name="sonar_forward_right">
 		<visual>
 			<geometry>
-				<box size="0.015 0.015 0.046"/>
+				<box size="0.016 0.044 0.02"/>
 			</geometry>
-			<origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<origin xyz="${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_right">
+	<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="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
+			<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+			<material name="green">
+				<color rgba="0 1 0 0.8"/>
 			</material>
 		</visual>
 	</link>
@@ -122,28 +117,28 @@
 		<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 ${-5*PI/180} 0"/>
 	</joint>
 
-	<joint name="sonar_backward_joint" type="fixed">
+	<joint name="sonar_forward_right_joint" type="fixed">
 		<parent link="mounting_plate"/>
-		<child link="sonar_backward"/>
-		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
+		<child link="sonar_forward_right"/>
+		<origin xyz="0.115 -0.05 -0.012" rpy="0 ${-5*PI/180} 0"/>
 	</joint>
 
-	<joint name="ir_left_joint" type="fixed">
+	<joint name="sonar_backward_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="sonar_backward"/>
+		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 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 0.0" rpy="0 0 ${-110*PI/180}"/>
 	</joint>
 
 	<xacro:macro name="wheel" params="pos side xyz rpy">   
@@ -261,4 +256,36 @@
 	<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>0.15</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>