mirror of
https://github.com/bjoernellens1/bot_mini_description.git
synced 2024-11-22 07:13:48 +00:00
225 lines
7.9 KiB
XML
225 lines
7.9 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="diffbot" params="prefix">
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<xacro:include filename="inertial_macros.xacro"/>
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<!-- new properties -->
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<xacro:property name="chassis_length" value="0.34"/>
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<xacro:property name="chassis_width" value="0.26"/>
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<xacro:property name="chassis_height" value="0.123"/>
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<xacro:property name="chassis_mass" value="3.0"/>
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<xacro:property name="wheel_radius" value="0.0625"/>
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<xacro:property name="wheel_thickness" value="0.020"/>
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<xacro:property name="wheel_mass" value="0.02"/>
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<xacro:property name="wheel_offset_x" value="0.285748"/>
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<xacro:property name="wheel_offset_y" value="0.33675"/>
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<xacro:property name="wheel_offset_z" value="-0.035"/>
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<xacro:property name="caster_wheel_radius" value="0.04"/>
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<xacro:property name="caster_wheel_mass" value="0.01"/>
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<xacro:property name="caster_wheel_offset_x" value="0.075"/>
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<xacro:property name="caster_wheel_offset_z" value="${wheel_offset_z - wheel_radius + caster_wheel_radius}"/>
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<xacro:property name="chassis_offset" value="0.065"/>
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<!-- Base Link -->
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<link name="${prefix}base_link">
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</link>
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<!-- Adding base_footprint for mapping (Needed by slam toolbox) -->
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<joint name="${prefix}base_footprint_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}base_footprint" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<link name="${prefix}base_footprint">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="${prefix}chassis_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}chassis"/>
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<origin xyz="${-chassis_length/2 + chassis_offset} 0 ${wheel_radius - wheel_offset_z}"/>
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</joint>
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<link name="${prefix}chassis">
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<visual>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
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</geometry>
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</collision>
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<xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_box>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!-- RIGHT WHEEL -->
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<joint name="${prefix}right_wheel_joint" type="continuous">
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<parent link="${prefix}chassis"/>
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<child link="${prefix}right_wheel"/>
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<origin xyz="${chassis_length/2 - 0.075} -${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="${pi/2} 0 0" />
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<axis xyz="0 0 -1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0"/>
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</joint>
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<link name="${prefix}right_wheel">
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<visual>
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<geometry>
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<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<gazebo reference="right_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- LEFT WHEEL -->
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<joint name="${prefix}left_wheel_joint" type="continuous">
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<parent link="${prefix}chassis"/>
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<child link="${prefix}left_wheel"/>
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<origin xyz="${chassis_length/2 - 0.075} ${wheel_offset_y/2 + wheel_thickness/2 + 0.01} ${wheel_offset_z}" rpy="-${pi/2} 0 0" />
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<axis xyz="0 0 1"/>
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</joint>
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<link name="${prefix}left_wheel">
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<visual>
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<geometry>
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<cylinder radius="${wheel_radius}" length="${wheel_thickness}"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_cylinder mass="${wheel_mass}" length="${wheel_thickness}" radius="${wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<gazebo reference="left_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- CASTER WHEEL -->
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<joint name="${prefix}caster_wheel_joint" type="fixed">
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<parent link="${prefix}chassis"/>
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<child link="${prefix}caster_wheel"/>
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<origin xyz="-${caster_wheel_offset_x*2} 0 ${caster_wheel_offset_z}"/>
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</joint>
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<link name="${prefix}caster_wheel">
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<visual>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link>
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<gazebo reference="caster_wheel">
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<material>Gazebo/White</material>
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<mu1 value="0.001"/>
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<mu2 value="0.001"/>
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</gazebo>
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<!-- LASER -->
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<joint name="${prefix}laser_joint" type="fixed">
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<parent link="${prefix}chassis"/>
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<child link="${prefix}laser_frame"/>
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<origin xyz="-0.07 0 10" rpy="0 0 ${pi}"/>
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</joint>
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<link name="${prefix}laser_frame">
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<visual>
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<geometry>
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<cylinder radius="0.04" length="0.05"/>
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</geometry>
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<material name="black"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/White</material>
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</gazebo>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/camera_link_visual.stl"/>
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</geometry>
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<material name="camera_link_material">
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<color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 -0 0" />
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<geometry>
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<mesh filename="package://cps_loki_description/mesh/camera_link_collision.stl"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="5.3378961738576549005e-07 0.0016484827975361887251 -0.020840554768345870285" rpy="0 0 0"/>
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<mass value="0.064008494238512375629" />
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<inertia ixx="1.7394518695567356026e-05" ixy="-4.87317899857206066e-10" ixz="-1.7982620680900958214e-11" iyy="3.2074360900148983727e-05" iyz="2.0892555595878115295e-06" izz="2.8321439372619354409e-05" />
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</inertial>
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</link>
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<!-- Camera Joint -->
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<joint name="${prefix}camera_joint" type="fixed">
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<origin xyz="${chassis_length / 2 - chassis_offset} 0 0" rpy="0 0 ${PI}" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}camera_link" />
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<axis xyz="0 0 1"/>
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0"/>
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</joint>
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</xacro:macro>
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</robot> |