X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=8be843c4b6f126915e960f46af5d73aba252a708;hp=1bd641e23a0a12bc4f9d22e76627abc646ea88f5;hb=b301eb19e6487497a8bb946c538a25aa4ee28c1d;hpb=80b61518513631afbd8acdcab2b23a53266080ca

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 1bd641e..8be843c 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -21,11 +21,13 @@
 			</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>
@@ -54,7 +56,19 @@
 		<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"/>
@@ -120,16 +134,22 @@
 		<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 ${-5*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 ${-5*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 ${-175*PI/180} 0"/>
 	</joint>
 
 	<joint name="ir_left_joint" type="fixed">
@@ -161,9 +181,18 @@
 			<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"/>
@@ -177,16 +206,15 @@
 				<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">
@@ -203,6 +231,7 @@
 			<frameName>base_imu_link</frameName>
 			<xyzOffsets>0 0 0</xyzOffsets>
 			<rpyOffset>0 0 0</rpyOffset>
+			<serviceName>/default_imu</serviceName>
 		</plugin>
 	</gazebo>
 
@@ -246,8 +275,8 @@
 		</gazebo>
 	</xacro:macro>
 
-	<xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*PI/180}" radiation="ultrasound" />
-	<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${30*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>