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=f50da66a00d57acdc1b1e9dc43582523eeb45b9b;hb=b0346ccd1f5566f3134ed47fd28f8330d7d2d76b;hpb=1e0c178b4723217cf134c26ebedfec68ecafe67a

diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index f50da66..fd005af 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -2,14 +2,25 @@
 <robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:property name="PI" value="3.1415926535897931" />
 
+	<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 0.000001"/>
 			</geometry>
-			<material name="grey">
-				<color rgba="0.5 0.5 0.5 0.5"/>
-			</material>
+			<material name="wtgrey"/>
 		</visual>
 	</link>
 
@@ -26,9 +37,9 @@
 			</geometry>
 		</visual>
 		<inertial>
-			<origin xyz="-0.00275 0 -0.02" rpy="0 0 0"/>
+			<origin xyz="-0.00275 0 0" 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"/>
+			<inertia izz="0.014021" ixy="0.0" ixz="0.0" iyy="0.012708" iyz="0.0" ixx="0.0046875"/>
 		</inertial>
 	</link>
 
@@ -37,9 +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>
 
@@ -57,9 +66,7 @@
 				<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="black">
-				<color rgba="0 0 0 1"/>
-			</material>
+			<material name="wtblack"/>
 		</visual>
 	</link>
 
@@ -69,9 +76,7 @@
 				<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>
 
@@ -81,9 +86,7 @@
 				<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>
 
@@ -93,12 +96,26 @@
 				<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="antenna">
+		<visual>
+			<geometry>
+				<cylinder radius="0.006" length="0.165"/>
+			</geometry>
+			<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">
 		<parent link="base_footprint"/>
 		<child link="base_link"/>
@@ -135,6 +152,12 @@
 		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${-175*PI/180} 0"/>
 	</joint>
 
+	<joint name="antenna_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<child link="antenna"/>
+		<origin xyz="0.011 0.05 0" rpy="0 0 0"/>
+	</joint>
+
 	<joint name="lidar_joint" type="fixed">
 		<parent link="mounting_plate"/>
 		<child link="lidar"/>
@@ -165,7 +188,7 @@
 		<gazebo reference="${pos}_${side}_wheel">
 			<mu1 value="1.0"/>
 			<mu2 value="0.2"/>
-			<kp value="1000000.0" />
+			<kp value="1000000000000.0" />
 			<kd value="1.0" />
 			<fdir1 value="0 1 0"/>
 			<minDepth>0.005</minDepth>
@@ -256,8 +279,6 @@
 	<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">
@@ -274,7 +295,7 @@
 					</horizontal>
 				</scan>
 				<range>
-					<min>0.15</min>
+					<min>0.20</min>
 					<max>16.0</max>
 					<resolution>0.01</resolution>
 				</range>