mirror of
https://github.com/bjoernellens1/bot_mini_description.git
synced 2024-11-22 23:33:47 +00:00
224 lines
7.4 KiB
Plaintext
224 lines
7.4 KiB
Plaintext
|
<?xml version="1.0"?>
|
||
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||
|
|
|
||
|
|
<xacro:macro name="diffbot" params="prefix">
|
||
|
|
|
||
|
|
<!-- Constants for robot dimensions -->
|
||
|
|
<xacro:property name="PI" value="3.1415926535897931"/>
|
||
|
|
<xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
|
||
|
|
<xacro:property name="base_width" value="0.25" /> <!-- Updated wheel spacing to 25cm -->
|
||
|
|
<xacro:property name="base_length" value="0.34" />
|
||
|
|
<xacro:property name="base_height" value="0.1" />
|
||
|
|
<xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
|
||
|
|
<xacro:property name="wheel_len" value="0.020" />
|
||
|
|
<xacro:property name="wheel_radius" value="0.0625" />
|
||
|
|
<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
|
||
|
|
<xacro:property name="caster_wheel_radius" value="0.04" />
|
||
|
|
<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
|
||
|
|
|
||
|
|
<!-- Base Link -->
|
||
|
|
<link name="${prefix}base_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
|
||
|
|
</geometry>
|
||
|
|
<material name="orange"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<mass value="${base_mass}"/>
|
||
|
|
<inertia
|
||
|
|
ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
|
||
|
|
izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${prefix}left_wheel_joint" type="continuous">
|
||
|
|
<parent link="${prefix}base_link"/>
|
||
|
|
<child link="${prefix}left_wheel"/>
|
||
|
|
<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
|
||
|
|
<axis xyz="0 1 0"/>
|
||
|
|
<dynamics damping="0.2"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- left wheel Link -->
|
||
|
|
<link name="${prefix}left_wheel">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<mass value="${wheel_mass}"/>
|
||
|
|
<inertia
|
||
|
|
ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
|
||
|
|
izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${prefix}right_wheel_joint" type="continuous">
|
||
|
|
<parent link="${prefix}base_link"/>
|
||
|
|
<child link="${prefix}right_wheel"/>
|
||
|
|
<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
|
||
|
|
<axis xyz="0 -1 0"/>
|
||
|
|
<dynamics damping="0.2"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- right wheel Link -->
|
||
|
|
<link name="${prefix}right_wheel">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="black"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
|
||
|
|
<mass value="${wheel_mass}"/>
|
||
|
|
<inertia
|
||
|
|
ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
|
||
|
|
izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<joint name="${prefix}caster_wheel_joint" type="fixed">
|
||
|
|
<parent link="${prefix}base_link"/>
|
||
|
|
<child link="${prefix}caster_wheel"/>
|
||
|
|
<origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- caster wheel Link -->
|
||
|
|
<link name="${prefix}caster_wheel">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="${caster_wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<sphere radius="${caster_wheel_radius}"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="white"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<mass value="${caster_wheel_mass}"/>
|
||
|
|
<inertia
|
||
|
|
ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
|
||
|
|
ixy="0.0" ixz="0.0"
|
||
|
|
iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
|
||
|
|
iyz="0.0"
|
||
|
|
izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- laser_link -->
|
||
|
|
<link name="${prefix}laser_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 0.1"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 0.1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="green"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||
|
|
<mass value="0.1"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.001" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="0.001" iyz="0.0"
|
||
|
|
izz="0.001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- camera_link -->
|
||
|
|
<link name="${prefix}camera_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 0.1"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.1 0.1 0.1"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="blue"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<inertial>
|
||
|
|
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||
|
|
<mass value="0.1"/>
|
||
|
|
<inertia
|
||
|
|
ixx="0.001" ixy="0.0" ixz="0.0"
|
||
|
|
iyy="0.001" iyz="0.0"
|
||
|
|
izz="0.001"/>
|
||
|
|
</inertial>
|
||
|
|
</link>
|
||
|
|
|
||
|
|
<!-- Base Joint -->
|
||
|
|
<joint name="${prefix}base_joint" type="fixed">
|
||
|
|
<parent link="${prefix}base_link"/>
|
||
|
|
<child link="${prefix}laser_link"/>
|
||
|
|
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<!-- Front Joint -->
|
||
|
|
<joint name="${prefix}front_joint" type="fixed">
|
||
|
|
<parent link="${prefix}laser_link"/>
|
||
|
|
<child link="${prefix}camera_link"/>
|
||
|
|
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</xacro:macro>
|
||
|
|
</robot>
|
||
|
|
|
||
|
|
|
||
|
|
|