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Björn Ellensohn 2023-06-13 10:02:56 +02:00
parent ae47773c15
commit 1cb18ec57a
1 changed files with 194 additions and 183 deletions
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urdf/diffbot_description.urdf.xacro
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@ -3,53 +3,58 @@
<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>
<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="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
</inertial>
<!-- dummy link - used for ros2 control so it stops complaining?
<link name="${prefix}dummy_link">
</link>
<joint name="${prefix}left_wheel_joint" type="continuous">
<parent link="${prefix}base_link"/>
<child link="${prefix}left_wheel"/>
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<dynamics damping="0.2"/>
</joint>
<joint name="${prefix}dummy_joint" type="fixed">
<parent link="${prefix}dummy_link" />
<child link="${prefix}base_link" />
</joint> -->
<!-- needed for replacement to find mesh dir: file://$(find bot_mini_description)/mesh/ -->
<!-- Base Link -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/>
</geometry>
<material name="base_link_material">
<color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/base_link_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="-2.5368985414583082317e-17 0.083896718007622009261 -0.0037261823981863751235" rpy="0 0 0"/>
<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" />
</inertial>
</link>
<!-- Adding base_footprint for mapping (Needed by slam toolbox) -->
<link name="${prefix}base_footprint">
@ -60,172 +65,178 @@
<child link="${prefix}base_footprint" />
</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>
<!-- right wheel joint -->
<!-- fixed wheel joint for testing, type was continuous -->
<joint name="${prefix}right_wheel_joint" type="continuous">
<parent link="${prefix}base_link"/>
<child link="${prefix}right_wheel"/>
<origin xyz="0 0.07 ${z_offset}" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<dynamics damping="0.2"/>
<origin xyz="6.9388939039072283776e-17 -0.125 -0.05999999999999999778" rpy="-1.57079632679489678 -1.1660544913393859426e-16 6.9388939039072283776e-17" />
<parent link="${prefix}base_link" />
<child link="${prefix}right_wheel" />
<axis xyz="0 0 1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="0.0"/>
</joint>
<!-- right wheel Link -->
<link name="${prefix}right_wheel">
<collision>
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_visual.stl"/>
</geometry>
<material name="wheel_link_material">
<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_collision.stl"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="${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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
</inertial>
</link>
<origin xyz="-1.3877787807814456755e-17 -6.9388939039072283776e-18 -0.017500000000000029421" rpy="0 0 0"/>
<mass value="0.43298678305638949038" />
<inertia ixx="0.00043196650576949035269" ixy="0" ixz="1.8666117243005040269e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
</inertial>
</link>
<joint name="${prefix}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 ${z_offset}" rpy="0 0 0"/>
<!-- fixed wheel joint for testing, type was continuous -->
<!-- left wheel joint -->
<joint name="${prefix}left_wheel_joint" type="continuous">
<origin xyz="-5.5511151231257827021e-17 0.12500000000000005551 -0.060000000000000011657" rpy="1.570796326794896558 -1.6964751660994284333e-16 1.7347234759768063549e-16" />
<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>
<!-- caster frontal wheel Link -->
<link name="${prefix}caster_frontal_wheel">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<!-- left wheel Link -->
<link name="${prefix}left_wheel">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<sphere radius="${caster_wheel_radius}"/>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_visual.stl"/>
</geometry>
<material name="wheel_link_2_material">
<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_collision.stl"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${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>
<origin xyz="-2.7755575615628913511e-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="${prefix}caster_rear_wheel_joint" type="fixed">
<parent link="${prefix}base_link"/>
<child link="${prefix}caster_rear_wheel"/>
<origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
<!-- caster wheel joint -->
<joint name="${prefix}caster_wheel_joint" type="fixed">
<origin xyz="-0.29000000000000003553 -1.236754434711827603e-16 -0.019999999999999969191" 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>
<!-- caster rear wheel Link -->
<link name="${prefix}caster_rear_wheel">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<!-- caster wheel Link -->
<link name="${prefix}caster_wheel">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<sphere radius="${caster_wheel_radius}"/>
<mesh filename="file://$(find bot_mini_description)/mesh/caster_link_visual.stl"/>
</geometry>
<material name="caster_link_material">
<color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/caster_link_collision.stl"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="${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>
<origin xyz="-0.0043392325658342043027 -0.026018163063004008662 -0.040087257391101506487" rpy="0 0 0"/>
<mass value="0.4365196214157913146" />
<inertia ixx="0.00065232223366267665706" ixy="-2.2812456870885095374e-05" ixz="-2.819328031928647945e-05" iyy="0.00051934268155350092177" iyz="-0.00016904771834628737077" izz="0.00028021186492738437085" />
</inertial>
</link>
<!-- Laser Link -->
<link name="${prefix}laser_link">
<visual>
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
<geometry>
<!-- Define the geometry of the laser link, e.g., a cylinder -->
<cylinder length="0.05" radius="0.02"/>
</geometry>
</visual>
</link>
<!-- laser_link -->
<link name="${prefix}laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/laser_link_visual.stl"/>
</geometry>
<material name="laser_link_material">
<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/laser_link_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="8.0502568807622093404e-21 2.7755575615628913511e-17 -0.01526549883836261258" rpy="0 0 0"/>
<mass value="0.065307030550339775776" />
<inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643350309e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084147142e-38" izz="1.9760068210357054465e-05" />
</inertial>
</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} ${z_offset}" rpy="0 0 0"/>
</joint>
<!-- laser_joint -->
<joint name="${prefix}laser_joint" type="fixed">
<origin xyz="0.025000000000000001388 2.7755575615628913511e-17 0.025000000000000008327" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
<parent link="${prefix}base_link" />
<child link="${prefix}laser_link" />
<axis xyz="0 0 1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="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} ${z_offset + base_height}" rpy="0 0 0"/>
</joint>
<!-- camera_link -->
<link name="${prefix}camera_link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/camera_link_visual.stl"/>
</geometry>
<material name="camera_link_material">
<color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="file://$(find bot_mini_description)/mesh/camera_link_collision.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="5.3378961738576549005e-07 0.0016484827975361887251 -0.020840554768345870285" rpy="0 0 0"/>
<mass value="0.064008494238512375629" />
<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" />
</inertial>
</link>
<!-- Camera Joint -->
<joint name="${prefix}camera_joint" type="fixed">
<origin xyz="0.040000000000000007772 1.3877787807814456755e-17 -4.4408920985006270245e-18" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
<parent link="${prefix}base_link" />
<child link="${prefix}camera_link" />
<axis xyz="0 0 1"/>
<limit effort="1" velocity="20" />
<joint_properties friction="0.0"/>
</joint>
</xacro:macro>
</robot>