ellensohn/bot_mini_description
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Merge pull request #1 from bjoernellens1/testing

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Testing
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bjoernellens1 2023-06-14 08:33:59 +02:00 committed by GitHub
commit f3af38417f
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1 changed files with 13 additions and 11 deletions
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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" />
@ -19,7 +19,8 @@
<!-- arbitrary value for caster wheel mass --> <!-- arbitrary value for caster wheel mass -->
<xacro:property name="caster_wheel_radius" value="0.04" /> <xacro:property name="caster_wheel_radius" value="0.04" />
<xacro:property name="z_offset" value="-${base_height/2}" /> <xacro:property name="z_offset" value="-${base_height/2}" />
<!-- Space btw top of beam and the each joint --> <!-- Offset of main Axis to center of base body (Axis of rotation for steering) -->
<xacro:property name="base_offset" value="0.11" />
<!-- dummy link - used for ros2 control so it stops complaining? <!-- dummy link - used for ros2 control so it stops complaining?
<link name="${prefix}dummy_link"> <link name="${prefix}dummy_link">
@ -35,7 +36,7 @@
<!-- 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>
@ -50,7 +51,7 @@
</geometry> </geometry>
</collision> </collision>
<inertial> <inertial>
<origin xyz="-2.5368985414583082317e-17 0.083896718007622009261 -0.0037261823981863751235" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="8.4123950268139715547" /> <mass value="8.4123950268139715547" />
<inertia ixx="0.090166990291185383777" ixy="4.7429179749238352248e-18" ixz="1.4209310488728267579e-18" iyy="0.055481261106946747064" iyz="-0.01112159061226025876" izz="0.13051099377067149065" /> <inertia ixx="0.090166990291185383777" ixy="4.7429179749238352248e-18" ixz="1.4209310488728267579e-18" iyy="0.055481261106946747064" iyz="-0.01112159061226025876" izz="0.13051099377067149065" />
</inertial> </inertial>
@ -63,15 +64,16 @@
<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="0 -0.125 ${z_offset}" rpy="${PI / 2} 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"/>
<limit effort="1" velocity="20" /> <limit effort="1" velocity="20" />
<joint_properties friction="0.0"/> <joint_properties friction="0.0"/>
</joint> </joint>
@ -103,7 +105,7 @@
<!-- 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="0 0.125 ${z_offset}" rpy="${PI / 2} 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 +139,7 @@
<!-- 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 + base_offset} 0 -0.02" rpy="0 0 ${PI}" />
<parent link="${prefix}base_link" /> <parent link="${prefix}base_link" />
<child link="${prefix}caster_wheel" /> <child link="${prefix}caster_wheel" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
@ -195,7 +197,7 @@
<!-- laser_joint --> <!-- laser_joint -->
<joint name="${prefix}laser_joint" type="fixed"> <joint name="${prefix}laser_joint" type="fixed">
<origin xyz="0.025000000000000001388 2.7755575615628913511e-17 0.025000000000000008327" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" /> <origin xyz="${base_length /2 -0.035 - base_offset} 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 +232,7 @@
<!-- 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 - base_offset} 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"/>