X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=f50da66a00d57acdc1b1e9dc43582523eeb45b9b;hp=4e78a879cb48e63d75398287f0fe659410edeb65;hb=f19444e8ba423e8d15da8489749697e496911e9f;hpb=4df288dbe41ff1d7e51fae3b0435d1c74f23cac2

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 4e78a87..f50da66 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,26 +1,35 @@
 <?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 -0.022 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 0.000001"/>
 			</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 0.12 0.09"/>
+			</geometry>
+		</collision>
 		<visual>
+			<origin xyz="-0.00275 0 0" rpy="0 0 0"/>
 			<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>
+			<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>
 
 	<link name="base_imu_link">
@@ -34,23 +43,27 @@
 		</visual>
 	</link>
 
-	<xacro:asus_camera name="camera" parent="base_link">
-		<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
-	</xacro:asus_camera>
+	<link name="mounting_plate">
+		<visual>
+			<geometry>
+				<box size="0.23 0.12 0.001"/>
+			</geometry>
+		</visual>
+	</link>
 
-	<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" 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"/>
@@ -62,63 +75,219 @@
 		</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>
 
-	<joint name="imu_joint" type="fixed">
+	<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_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_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="sonar_forward"/>
-		<origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
+	<joint name="sonar_forward_right_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<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="base_link"/>
+		<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">
-		<parent link="base_link"/>
-		<child link="ir_left"/>
-		<origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
+	<joint name="lidar_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<child link="lidar"/>
+		<origin xyz="0.075 0.01 ${0.0408/2}" rpy="0 0 ${-110*PI/180}"/>
 	</joint>
 
-	<joint name="ir_right_joint" type="fixed">
-		<parent link="base_link"/>
-		<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="${PI/2} 0 0"/>
+				<geometry>
+					<cylinder radius="0.06" length="0.06"/>
+				</geometry>
+			</collision>
+			<inertial>
+				<origin xyz="0 0 0" rpy="0 0 0"/>
+				<mass value="0.2"/>
+				<inertia ixx="0.00024" ixy="0" ixz="0" iyy="0.00036" iyz="0" izz="0.00024"/>
+			</inertial>
+		</link>
+
+		<gazebo reference="${pos}_${side}_wheel">
+			<mu1 value="1.0"/>
+			<mu2 value="0.2"/>
+			<kp value="1000000.0" />
+			<kd value="1.0" />
+			<fdir1 value="0 1 0"/>
+			<minDepth>0.005</minDepth>
+		</gazebo>
+
+		<joint name="${pos}_${side}_wheel_joint" type="continuous">
+			<parent link="base_link"/>
+			<child link="${pos}_${side}_wheel"/>
+			<axis xyz="0 1 0"/>
+			<origin xyz="${xyz}" rpy="${rpy}"/>
+		</joint>
+
+		<transmission name="${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="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">
+			<robotNamespace>/</robotNamespace>
+			<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+		</plugin>
+
+		<plugin name="imu_controller" filename="libgazebo_ros_imu.so">
+			<alwaysOn>true</alwaysOn>
+			<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="${20*PI/180}" radiation="ultrasound" />
+	<xacro:range_sensor name="ir_left" ros_topic="range_left" update_rate="10" minRange="0.04" maxRange="0.3" fov="${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>