X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=9c929e55f18da1db3dbd13aae9da7d2b9bc78d0d;hp=cf2c67240b9edfe7806f2ac61bb31149f23216da;hb=cfa8a79b92972e17fb955c79d5c6337ec49a4538;hpb=0a59dd47c01d9185d83245bad70edcb14e9ec15a

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index cf2c672..9c929e5 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,33 +1,45 @@
 <?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" />
+
+	<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 0.0"/>
+				<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>
+			<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"/>
-			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+			<origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
+			<mass value="2.5"/>
+			<inertia ixx="0.012708" ixy="0.0" ixz="0.0" iyy="0.0084375" iyz="0.0" izz="0.017771"/>
 		</inertial>
 	</link>
 
@@ -36,9 +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>
 
@@ -50,56 +60,60 @@
 		</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="lidar">
+		<visual>
+			<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" rpy="0 0 0"/>
+			<material name="wtblack"/>
+		</visual>
+	</link>
 
-	<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>
+			<material name="wtgreen"/>
 		</visual>
 	</link>
 
-	<link name="sonar_backward">
+	<link name="sonar_forward_right">
 		<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>
+			<material name="wtgreen"/>
 		</visual>
 	</link>
 
-	<link name="ir_left">
+	<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="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
+			<origin xyz="${0.016/2} 0 0" rpy="0 0 0"/>
+			<material name="wtgreen"/>
 		</visual>
 	</link>
 
-	<link name="ir_right">
+	<link name="antenna">
 		<visual>
 			<geometry>
-				<box size="0.015 0.015 0.046"/>
+				<cylinder radius="0.006" length="0.165"/>
 			</geometry>
-			<origin xyz="${-0.015/2} 0 0" rpy="0 0 0"/>
-			<material name="black">
-				<color rgba="0 0 0 1"/>
-			</material>
+			<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">
@@ -120,28 +134,34 @@
 		<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">
+	<joint name="antenna_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="antenna"/>
+		<origin xyz="0.011 0.05 0" rpy="0 0 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 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
 	</joint>
 
 	<xacro:macro name="wheel" params="pos side xyz rpy">   
@@ -153,64 +173,142 @@
 				</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="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+				<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="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">
 			<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_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" />
+
+	<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>0.20</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>