From d1010ff2401438d2cd9d2407267f91b5e3a45717 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Thu, 1 Jun 2023 11:08:40 +0200
Subject: [PATCH] changed urdf

---
 urdf/diffbot_description.urdf.xacro     | 221 +++++++++++------------
 urdf/diffbot_description.urdf.xacro.bak | 222 ++++++++++++++++++++++++
 2 files changed, 334 insertions(+), 109 deletions(-)
 create mode 100644 urdf/diffbot_description.urdf.xacro.bak

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 35021e7..020ab89 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -1,52 +1,52 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:macro name="" params="prefix">
+  <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="0.26" />
-  <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="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
+    <!-- Constants for robot dimensions -->
+    <xacro:property name="PI" value="3.1415926535897931"/>
+    <xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
+    <xacro:property name="base_width" value="0.25" /> <!-- Updated wheel spacing to 25cm -->
+    <xacro:property name="base_length" value="0.34" />
+    <xacro:property name="base_height" value="0.1" />
+    <xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
+    <xacro:property name="wheel_len" value="0.020" />
+    <xacro:property name="wheel_radius" value="0.0625" />
+    <xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
+    <xacro:property name="caster_wheel_radius" value="0.04" />
+    <xacro:property name="z_offset" value="-${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_width} ${base_length} ${base_height}"/>
-      </geometry>
-    </collision>
+    <!-- Base Link -->
+    <link name="${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_width} ${base_length} ${base_height}"/>
-      </geometry>
-      <material name="orange"/>
-    </visual>
+      <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>
+        <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="0 -0.07 ${z_offset}" rpy="0 0 0"/>
+      <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
       <axis xyz="0 1 0"/>
       <dynamics damping="0.2"/>
     </joint>
@@ -75,13 +75,13 @@
           ixx="${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>
+      </inertial>
+    </link>
 
     <joint name="${prefix}right_wheel_joint" type="continuous">
       <parent link="${prefix}base_link"/>
       <child link="${prefix}right_wheel"/>
-      <origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
+      <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
       <axis xyz="0 -1 0"/>
       <dynamics damping="0.2"/>
     </joint>
@@ -110,17 +110,17 @@
           ixx="${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>
+      </inertial>
+    </link>
 
-    <joint name="${prefix}caster_frontal_wheel_joint" type="fixed">
+    <joint name="${prefix}caster_wheel_joint" type="fixed">
       <parent link="${prefix}base_link"/>
-      <child link="${prefix}caster_frontal_wheel"/>
-      <origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
+      <child link="${prefix}caster_wheel"/>
+      <origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
     </joint>
 
-    <!-- caster frontal wheel Link -->
-    <link name="${prefix}caster_frontal_wheel">
+    <!-- caster wheel Link -->
+    <link name="${prefix}caster_wheel">
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
@@ -140,83 +140,86 @@
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <mass value="${caster_wheel_mass}"/>
         <inertia
-          ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
-          iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
-          izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
-        </inertial>
+              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>
 
-    <joint name="${prefix}caster_rear_wheel_joint" type="fixed">
-      <parent link="${prefix}base_link"/>
-      <child link="${prefix}caster_rear_wheel"/>
-      <origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
-    </joint>
-
-    <!-- caster rear wheel Link -->
-    <link name="${prefix}caster_rear_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="${caster_wheel_mass}"/>
-        <inertia
-          ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
-          iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
-          izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
-        </inertial>
-      </link>
-
-      <!-- Laser Link -->
+      <!-- laser_link -->
       <link name="${prefix}laser_link">
-        <visual>
-          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
+        <collision>
+          <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
           <geometry>
-            <!-- Define the geometry of the laser link, e.g., a cylinder -->
-            <cylinder length="0.05" radius="0.02"/>
+            <box size="0.1 0.1 0.1"/>
           </geometry>
+        </collision>
+
+        <visual>
+          <origin xyz="${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>
 
-      <!-- Joint between Base Link and Laser Link -->
-      <joint name="${prefix}laser_joint" type="fixed">
+      <!-- camera_link -->
+      <link name="${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 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
+        <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
       </joint>
 
-      <!-- Camera Link -->
-      <link name="${prefix}camera_link">
-        <visual>
-          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
-          <geometry>
-            <!-- Define the geometry of the camera link, e.g., a box -->
-            <box size="0.1 0.1 0.05"/>
-          </geometry>
-        </visual>
-      </link>
-
-      <!-- Joint between Base Link and Camera Link -->
-      <joint name="${prefix}camera_joint" type="fixed">
-        <parent link="${prefix}base_link"/>
+      <!-- Front Joint -->
+      <joint name="${prefix}front_joint" type="fixed">
+        <parent link="${prefix}laser_link"/>
         <child link="${prefix}camera_link"/>
-        <origin xyz="0 ${base_length/2} ${z_offset + base_height}" rpy="0 0 0"/>
+        <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
       </joint>
 
-
-
   </xacro:macro>
-
+        <!-- Include the macro to create the diffbot -->
+  <xacro:diffbot prefix=""/>
 </robot>
+
+
+
diff --git a/urdf/diffbot_description.urdf.xacro.bak b/urdf/diffbot_description.urdf.xacro.bak
new file mode 100644
index 0000000..35021e7
--- /dev/null
+++ b/urdf/diffbot_description.urdf.xacro.bak
@@ -0,0 +1,222 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="" 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="0.26" />
+  <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_width} ${base_length} ${base_height}"/>
+      </geometry>
+    </collision>
+
+    <visual>
+      <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
+      <geometry>
+        <box size="${base_width} ${base_length} ${base_height}"/>
+      </geometry>
+      <material name="orange"/>
+    </visual>
+
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <mass value="${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="0 -0.07 ${z_offset}" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.2"/>
+    </joint>
+
+    <!-- left wheel Link -->
+    <link name="${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="0 -0.07 ${z_offset}" rpy="0 0 0"/>
+      <axis xyz="0 -1 0"/>
+      <dynamics damping="0.2"/>
+    </joint>
+
+    <!-- right wheel Link -->
+    <link name="${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_frontal_wheel_joint" type="fixed">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}caster_frontal_wheel"/>
+      <origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
+    </joint>
+
+    <!-- caster frontal wheel Link -->
+    <link name="${prefix}caster_frontal_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="${caster_wheel_mass}"/>
+        <inertia
+          ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
+          iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
+          izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
+        </inertial>
+      </link>
+
+    <joint name="${prefix}caster_rear_wheel_joint" type="fixed">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}caster_rear_wheel"/>
+      <origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
+    </joint>
+
+    <!-- caster rear wheel Link -->
+    <link name="${prefix}caster_rear_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="${caster_wheel_mass}"/>
+        <inertia
+          ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
+          iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
+          izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
+        </inertial>
+      </link>
+
+      <!-- Laser Link -->
+      <link name="${prefix}laser_link">
+        <visual>
+          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <!-- Define the geometry of the laser link, e.g., a cylinder -->
+            <cylinder length="0.05" radius="0.02"/>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Joint between Base Link and Laser Link -->
+      <joint name="${prefix}laser_joint" type="fixed">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}laser_link"/>
+        <origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
+      </joint>
+
+      <!-- Camera Link -->
+      <link name="${prefix}camera_link">
+        <visual>
+          <origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <!-- Define the geometry of the camera link, e.g., a box -->
+            <box size="0.1 0.1 0.05"/>
+          </geometry>
+        </visual>
+      </link>
+
+      <!-- Joint between Base Link and Camera Link -->
+      <joint name="${prefix}camera_joint" type="fixed">
+        <parent link="${prefix}base_link"/>
+        <child link="${prefix}camera_link"/>
+        <origin xyz="0 ${base_length/2} ${z_offset + base_height}" rpy="0 0 0"/>
+      </joint>
+
+
+
+  </xacro:macro>
+
+</robot>