From 8aeed7339c4b3fba557240dc9f3f3fa8ba190216 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 12 Jun 2023 11:14:49 +0200
Subject: [PATCH] fixes for slam toolbox

---
 urdf/diffbot_description.urdf.xacro |  24 +++
 urdf/robot.urdf                     | 294 ----------------------------
 2 files changed, 24 insertions(+), 294 deletions(-)
 delete mode 100644 urdf/robot.urdf

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 011eb80..dbc4df2 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -161,6 +161,30 @@
       </inertial>
     </link>
 
+    <!-- Adding base_footprint for mapping (Needed by slam toolbox) -->
+    <link name="${prefix}base_footprint">
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <box size="${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} ${base_height}"/> <!-- Updated base dimensions -->
+        </geometry>
+        <material name="orange"/>
+      </visual>
+    </link>
+
+    <joint name="${prefix}base_footprint_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}base_footprint" />
+    </joint>
+
     <!-- right wheel joint -->
     <joint name="${prefix}right_wheel_joint" type="continuous">
       <origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
diff --git a/urdf/robot.urdf b/urdf/robot.urdf
deleted file mode 100644
index 9785d69..0000000
--- a/urdf/robot.urdf
+++ /dev/null
@@ -1,294 +0,0 @@
-<robot name="onshape">
-	<link name="${prefix}base_link">
-		<visual>
-			<origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///right_motor.stl" />
-			</geometry>
-			<material name="right_motor_material">
-				<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///right_motor.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///motor_bar_frame.stl" />
-			</geometry>
-			<material name="motor_bar_frame_material">
-				<color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///motor_bar_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///base_frame.stl" />
-			</geometry>
-			<material name="base_frame_material">
-				<color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///base_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///left_motor.stl" />
-			</geometry>
-			<material name="left_motor_material">
-				<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///left_motor.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_connector.stl" />
-			</geometry>
-			<material name="caster_connector_material">
-				<color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_connector.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///right_motor_frame.stl" />
-			</geometry>
-			<material name="right_motor_frame_material">
-				<color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///right_motor_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///left_motor_frame.stl" />
-			</geometry>
-			<material name="left_motor_frame_material">
-				<color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///left_motor_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///laser_frame.stl" />
-			</geometry>
-			<material name="laser_frame_material">
-				<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///laser_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_angle.stl" />
-			</geometry>
-			<material name="caster_angle_material">
-				<color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_angle.stl" />
-			</geometry>
-		</collision>
-		<inertial>
-			<origin xyz="7.8715304751559223009e-17 -0.50594215569207112715 -0.048387297397152334577" rpy="0 0 0" />
-			<mass value="8.4777020573643113721" />
-			<inertia ixx="0.091076661684079157633" ixy="1.1626534456871032806e-17" ixz="2.9892835648942556204e-18" iyy="0.055622455227950687306" iyz="-0.010811144091914795182" izz="0.1312992311107717136" />
-		</inertial>
-	</link>
-	<link name="${prefix}right_wheel">
-		<visual>
-			<origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
-			<geometry>
-				<mesh filename="package:///left_wheel.stl" />
-			</geometry>
-			<material name="left_wheel_material">
-				<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
-			<geometry>
-				<mesh filename="package:///left_wheel.stl" />
-			</geometry>
-		</collision>
-		<inertial>
-			<origin xyz="1.3877787807814456755e-17 1.3877787807814456755e-17 -0.017500000000000015543" rpy="0 0 0" />
-			<mass value="0.43298678305638949038" />
-			<inertia ixx="0.00043196650576949035269" ixy="0" ixz="1.8666117243005040269e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
-		</inertial>
-	</link>
-	<joint name="${prefix}right_wheel_joint" type="revolute">
-		<origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
-		<parent link="${prefix}base_link" />
-		<child link="${prefix}right_wheel" />
-		<axis xyz="0 0 1" />
-		<limit effort="1" velocity="20" />
-		<joint_properties friction="0.0" />
-	</joint>
-	<link name="${prefix}left_wheel">
-		<visual>
-			<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
-			<geometry>
-				<mesh filename="package:///left_wheel.stl" />
-			</geometry>
-			<material name="left_wheel_material">
-				<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
-			<geometry>
-				<mesh filename="package:///left_wheel.stl" />
-			</geometry>
-		</collision>
-		<inertial>
-			<origin xyz="1.3877787807814456755e-17 0 -0.017500000000000015543" rpy="0 0 0" />
-			<mass value="0.43298678305638949038" />
-			<inertia ixx="0.00043196650576949035269" ixy="1.4778173856800390343e-52" ixz="-4.8081924471597460774e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
-		</inertial>
-	</link>
-	<joint name="${prefix}left_wheel_joint" type="revolute">
-		<origin xyz="0.12500000000000013878 -0.58900000000000007905 -0.10500000000000003775" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" />
-		<parent link="${prefix}base_link" />
-		<child link="${prefix}left_wheel" />
-		<axis xyz="0 0 1" />
-		<limit effort="1" velocity="20" />
-		<joint_properties friction="0.0" />
-	</joint>
-	<link name="${prefix}caster_wheel">
-		<visual>
-			<origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_wheel.stl" />
-			</geometry>
-			<material name="caster_wheel_material">
-				<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_wheel.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
-			<geometry>
-				<mesh filename="package:///caster_bearing_frame.stl" />
-			</geometry>
-			<material name="caster_bearing_frame_material">
-				<color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
-			<geometry>
-				<mesh filename="package:///caster_bearing_frame.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_left.stl" />
-			</geometry>
-			<material name="caster_frame_left_material">
-				<color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_left.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_top.stl" />
-			</geometry>
-			<material name="caster_frame_top_material">
-				<color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_top.stl" />
-			</geometry>
-		</collision>
-		<visual>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_right.stl" />
-			</geometry>
-			<material name="caster_frame_right_material">
-				<color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
-			</material>
-		</visual>
-		<collision>
-			<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
-			<geometry>
-				<mesh filename="package:///caster_frame_right.stl" />
-			</geometry>
-		</collision>
-		<inertial>
-			<origin xyz="8.4447232280069085184e-18 -0.02637752354625919754 -0.040087257391101464854" rpy="0 0 0" />
-			<mass value="0.4365196214157913146" />
-			<inertia ixx="0.00065612682799630025251" ixy="2.4352197233561134748e-20" ixz="4.2351647362715016953e-20" iyy="0.0005155380872198755916" iyz="-0.00017138258993622224827" izz="0.00028021186492738366612" />
-		</inertial>
-	</link>
-	<joint name="${prefix}caster_wheel_joint" type="revolute">
-		<origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
-		<parent link="${prefix}base_link" />
-		<child link="${prefix}caster_wheel" />
-		<axis xyz="0 0 1" />
-		<limit effort="1" velocity="20" />
-		<joint_properties friction="0.0" />
-	</joint>
-</robot>