X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=urdf%2Fwild_thumper.urdf.xacro;h=fd005afa5d7308fe564d8ab3d91d2489abc88414;hp=733a51d2e0b0267ab60bdb75c834ad1e2920d4c3;hb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b;hpb=fef837ff325499eccd07828f2f1ce104727d37db

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 733a51d..fd005af 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>
+			<origin xyz="-0.00275 0 0" 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"/>
+			<inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
 		</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">   
@@ -153,17 +173,27 @@
 				</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="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"/>
@@ -177,16 +207,15 @@
 				<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 +232,7 @@
 			<frameName>base_imu_link</frameName>
 			<xyzOffsets>0 0 0</xyzOffsets>
 			<rpyOffset>0 0 0</rpyOffset>
+			<serviceName>/default_imu</serviceName>
 		</plugin>
 	</gazebo>
 
@@ -246,8 +276,39 @@
 		</gazebo>
 	</xacro:macro>
 
-	<xacro:range_sensor name="sonar_forward" ros_topic="range_forward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*PI/180}" radiation="ultrasound" />
-	<xacro:range_sensor name="sonar_backward" ros_topic="range_backward" update_rate="10" minRange="0.04" maxRange="6" fov="${60*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" />
+	<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>