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changed urdf

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Björn Ellensohn 2023-06-01 11:08:40 +02:00
parent e699cb4361
commit d1010ff240
2 changed files with 334 additions and 109 deletions
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151
urdf/diffbot_description.urdf.xacro
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@ -1,12 +1,12 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="" params="prefix"> <xacro:macro name="diffbot" params="prefix">
<!-- Constants for robot dimensions --> <!-- Constants for robot dimensions -->
<xacro:property name="PI" value="3.1415926535897931"/> <xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass --> <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_width" value="0.25" /> <!-- 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="0.1" />
<xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass --> <xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
@ -21,14 +21,14 @@
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
<box size="${base_width} ${base_length} ${base_height}"/> <box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
</geometry> </geometry>
</collision> </collision>
<visual> <visual>
<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/> <origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
<geometry> <geometry>
<box size="${base_width} ${base_length} ${base_height}"/> <box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
</geometry> </geometry>
<material name="orange"/> <material name="orange"/>
</visual> </visual>
@ -46,7 +46,7 @@
<joint name="${prefix}left_wheel_joint" type="continuous"> <joint name="${prefix}left_wheel_joint" type="continuous">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}left_wheel"/> <child link="${prefix}left_wheel"/>
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/> <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
<axis xyz="0 1 0"/> <axis xyz="0 1 0"/>
<dynamics damping="0.2"/> <dynamics damping="0.2"/>
</joint> </joint>
@ -81,7 +81,7 @@
<joint name="${prefix}right_wheel_joint" type="continuous"> <joint name="${prefix}right_wheel_joint" type="continuous">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}right_wheel"/> <child link="${prefix}right_wheel"/>
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/> <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
<axis xyz="0 -1 0"/> <axis xyz="0 -1 0"/>
<dynamics damping="0.2"/> <dynamics damping="0.2"/>
</joint> </joint>
@ -113,14 +113,14 @@
</inertial> </inertial>
</link> </link>
<joint name="${prefix}caster_frontal_wheel_joint" type="fixed"> <joint name="${prefix}caster_wheel_joint" type="fixed">
<parent link="${prefix}base_link"/> <parent link="${prefix}base_link"/>
<child link="${prefix}caster_frontal_wheel"/> <child link="${prefix}caster_wheel"/>
<origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/> <origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
</joint> </joint>
<!-- caster frontal wheel Link --> <!-- caster wheel Link -->
<link name="${prefix}caster_frontal_wheel"> <link name="${prefix}caster_wheel">
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<geometry> <geometry>
@ -140,83 +140,86 @@
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${caster_wheel_mass}"/> <mass value="${caster_wheel_mass}"/>
<inertia <inertia
ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0" ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0" ixy="0.0" ixz="0.0"
izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/> iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
iyz="0.0"
izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
</inertial> </inertial>
</link> </link>
<joint name="${prefix}caster_rear_wheel_joint" type="fixed"> <!-- laser_link -->
<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="${prefix}laser_link"> <link name="${prefix}laser_link">
<visual> <collision>
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/> <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
<geometry> <geometry>
<!-- Define the geometry of the laser link, e.g., a cylinder --> <box size="0.1 0.1 0.1"/>
<cylinder length="0.05" radius="0.02"/>
</geometry> </geometry>
</collision>
<visual>
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<material name="green"/>
</visual> </visual>
<inertial>
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
<mass value="0.1"/>
<inertia
ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001"/>
</inertial>
</link> </link>
<!-- Joint between Base Link and Laser Link --> <!-- camera_link -->
<joint name="${prefix}laser_joint" type="fixed"> <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"/> <parent link="${prefix}base_link"/>
<child link="${prefix}laser_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"/> <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} ${z_offset + base_height}" rpy="0 0 0"/>
</joint> </joint>
<!-- Front Joint -->
<joint name="${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> </xacro:macro>
<!-- Include the macro to create the diffbot -->
<xacro:diffbot prefix=""/>
</robot> </robot>

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urdf/diffbot_description.urdf.xacro.bak Normal file
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@ -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>