ellensohn/bot_mini_description
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Björn Ellensohn 2023-06-13 11:04:47 +02:00
parent ed2c5df2b0
commit 0cc7afdd6a
1 changed files with 9 additions and 8 deletions
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17
urdf/diffbot_description.urdf.xacro
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@ -7,10 +7,10 @@
<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="base_mass" value="0.3" /> <xacro:property name="base_mass" value="0.3" />
<!-- arbitrary value for base mass --> <!-- arbitrary value for base mass -->
<xacro:property name="base_width" value="0.25" /> <xacro:property name="base_width" value="0.26" />
<!-- Updated wheel spacing to 25cm --> <!-- Updated wheel spacing to 25cm -->
<xacro:property name="base_length" value="0.34" /> <xacro:property name="base_length" value="0.34" />
<xacro:property name="base_height" value="0.1" /> <xacro:property name="base_height" value="0.123" />
<xacro:property name="wheel_mass" value="0.3" /> <xacro:property name="wheel_mass" value="0.3" />
<!-- arbitrary value for wheel mass --> <!-- arbitrary value for wheel mass -->
<xacro:property name="wheel_len" value="0.020" /> <xacro:property name="wheel_len" value="0.020" />
@ -35,7 +35,7 @@
<!-- Base Link --> <!-- Base Link -->
<link name="${prefix}base_link"> <link name="${prefix}base_link">
<visual> <visual>
<origin xyz="0 0 0" rpy="0 -0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/> <mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/>
</geometry> </geometry>
@ -63,12 +63,13 @@
<joint name="${prefix}base_footprint_joint" type="fixed"> <joint name="${prefix}base_footprint_joint" type="fixed">
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}base_footprint" /> <child link="${prefix}base_footprint" />
<origin xyz="0 0 ${z_offset}" rpy="0 0 0" />
</joint> </joint>
<!-- right wheel joint --> <!-- right wheel joint -->
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" /> <origin xyz="$(base_length/2) -0.125 ${z_offset}" rpy="0 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" /> <child link="${prefix}right_wheel" />
<axis xyz="0 0 -1"/> <axis xyz="0 0 -1"/>
@ -103,7 +104,7 @@
<!-- fixed wheel joint for testing, type was continuous --> <!-- fixed wheel joint for testing, type was continuous -->
<!-- left wheel joint --> <!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" /> <origin xyz="${(base_length/2)} 0.125 ${z_offset}" rpy="0 0 0" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}left_wheel" /> <child link="${prefix}left_wheel" />
<axis xyz="0 0 -1" /> <axis xyz="0 0 -1" />
@ -137,7 +138,7 @@
<!-- caster wheel joint --> <!-- caster wheel joint -->
<joint name="${prefix}caster_wheel_joint" type="fixed"> <joint name="${prefix}caster_wheel_joint" type="fixed">
<origin xyz="-0.29000000000000003553 -1.236754434711827603e-16 -0.019999999999999969191" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" /> <origin xyz="-${(base_length/2)} 0 -0.02" rpy="0 0 ${PI}" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}caster_wheel" /> <child link="${prefix}caster_wheel" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
@ -195,7 +196,7 @@
<!-- laser_joint --> <!-- laser_joint -->
<joint name="${prefix}laser_joint" type="fixed"> <joint name="${prefix}laser_joint" type="fixed">
<origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/> <origin xyz="${(base_length/2)-0.035} 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}laser_link" /> <child link="${prefix}laser_link" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
@ -230,7 +231,7 @@
<!-- Camera Joint --> <!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed"> <joint name="${prefix}camera_joint" type="fixed">
<origin xyz="0.040000000000000007772 1.3877787807814456755e-17 -4.4408920985006270245e-18" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" /> <origin xyz="${base_length/2} 0 0" rpy="0 0 ${PI}" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}camera_link" /> <child link="${prefix}camera_link" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>