mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-22 07:33:48 +00:00
Merge branch 'main' of https://github.com/bjoernellens1/bot_mini_description
This commit is contained in:
commit
38634a1052
@ -6,35 +6,35 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
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<robot>
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<material name="black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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<color rgba="0.0 0.0 0.0 1.0" />
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</material>
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<material name="blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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<color rgba="0.0 0.0 0.8 1.0" />
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</material>
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<material name="green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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<color rgba="0.0 0.8 0.0 1.0" />
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</material>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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<color rgba="0.2 0.2 0.2 1.0" />
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</material>
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<material name="orange">
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<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
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<color rgba="${255/255} ${108/255} ${10/255} 1.0" />
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</material>
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<material name="brown">
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<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
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<color rgba="${222/255} ${207/255} ${195/255} 1.0" />
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</material>
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<material name="red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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<color rgba="0.8 0.0 0.0 1.0" />
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</material>
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<material name="white">
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<color rgba="1.0 1.0 1.0 1.0"/>
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<color rgba="1.0 1.0 1.0 1.0" />
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</material>
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</robot>
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@ -5,21 +5,26 @@
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<!-- Constants for robot dimensions -->
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="base_mass" value="0.3" />
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<!-- arbitrary value for base mass -->
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<xacro:property name="base_width" value="0.25" />
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<!-- Updated wheel spacing to 25cm -->
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<xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
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<xacro:property name="base_width" value="0.25" /> <!-- Updated wheel spacing to 25cm -->
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<xacro:property name="base_length" value="0.34" />
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<xacro:property name="base_height" value="0.1" />
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<xacro:property name="wheel_mass" value="0.3" />
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<!-- arbitrary value for wheel mass -->
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<xacro:property name="wheel_len" value="0.020" />
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<xacro:property name="wheel_radius" value="0.0625" />
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<xacro:property name="caster_wheel_mass" value="0.1" />
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<!-- arbitrary value for caster wheel mass -->
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<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
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<xacro:property name="caster_wheel_radius" value="0.04" />
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<xacro:property name="z_offset" value="-${base_height/2}" />
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<!-- Space btw top of beam and the each joint -->
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<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
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<!-- dummy link - used for ros2 control so it stops complaining? -->
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<link name="${prefix}dummy">
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</link>
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<joint name="${prefix}dummy_joint" type="fixed">
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<parent link="${prefix}dummy" />
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<child link="${prefix}base_link" />
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</joint>
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<!-- Base Link -->
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<link name="${prefix}base_link">
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@ -133,9 +138,7 @@
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
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</geometry>
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<material name="laser_frame_material">
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<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
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</material>
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<material name="orange"/>
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</visual>
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<collision>
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<origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
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@ -148,9 +151,7 @@
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
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</geometry>
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<material name="caster_angle_material">
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<color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0" />
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</material>
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<material name="black"/>
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</visual>
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<collision>
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<origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
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@ -165,14 +166,12 @@
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</inertial>
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</link>
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<!-- right wheel joint -->
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<joint name="${prefix}right_wheel_joint" type="revolute">
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<origin xyz="-0.12499999999999993061 -0.58900000000000007905 -0.10500000000000000999" rpy="-1.570796326794896558 -2.2204460492503130808e-16 -1.57079632679489678" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}right_wheel" />
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<axis xyz="0 0 1" />
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0" />
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<joint name="${prefix}right_wheel_joint" type="continuous">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}right_wheel"/>
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
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<axis xyz="0 -1 0"/>
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<dynamics damping="0.2"/>
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</joint>
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<!-- right wheel Link -->
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@ -189,7 +188,7 @@
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<collision>
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<origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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</collision>
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<inertial>
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@ -212,13 +211,11 @@
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<!-- left wheel Link -->
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<link name="${prefix}left_wheel">
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<visual>
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<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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</geometry>
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<material name="left_wheel_material">
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<color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
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</material>
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<material name="black"/>
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</visual>
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<collision>
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<origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
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@ -227,20 +224,19 @@
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</geometry>
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</collision>
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<inertial>
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<origin xyz="1.3877787807814456755e-17 0 -0.017500000000000015543" rpy="0 0 0" />
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<mass value="0.43298678305638949038" />
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<inertia ixx="0.00043196650576949035269" ixy="1.4778173856800390343e-52" ixz="-4.8081924471597460774e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<mass value="${wheel_mass}"/>
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<inertia
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ixx="${wheel_mass / 12.0 * (3*wheel_radius + wheel_len*wheel_len)}" ixy="0.0" ixz="0.0"
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iyy="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" iyz="0.0"
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izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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</inertial>
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</link>
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<!-- caster wheel joint -->
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<joint name="${prefix}caster_wheel_joint" type="revolute">
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<origin xyz="5.3368019332749957491e-17 -0.29900000000000009903 -0.064999999999999974465" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}caster_wheel" />
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<axis xyz="0 0 1" />
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<limit effort="1" velocity="20" />
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<joint_properties friction="0.0" />
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<joint name="${prefix}caster_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_wheel"/>
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<origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
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</joint>
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<!-- caster wheel Link -->
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@ -300,19 +296,17 @@
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</material>
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</visual>
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<collision>
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<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl" />
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl" />
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="caster_frame_right_material">
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<color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
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</material>
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<material name="white"/>
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</visual>
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<collision>
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<origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
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@ -321,69 +315,70 @@
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</geometry>
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</collision>
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<inertial>
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<origin xyz="8.4447232280069085184e-18 -0.02637752354625919754 -0.040087257391101464854" rpy="0 0 0" />
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<mass value="0.4365196214157913146" />
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<inertia ixx="0.00065612682799630025251" ixy="2.4352197233561134748e-20" ixz="4.2351647362715016953e-20" iyy="0.0005155380872198755916" iyz="-0.00017138258993622224827" izz="0.00028021186492738366612" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
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ixy="0.0" ixz="0.0"
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iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
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iyz="0.0"
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izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
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</inertial>
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</link>
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<!-- laser_link -->
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<link name="${prefix}laser_link">
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<visual>
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<origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
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</geometry>
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<material name="laser_frame_material">
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<color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="8.0502568807930242195e-21 5.5511151231257827021e-17 -0.015265498838362610845" rpy="0 0 0"/>
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<mass value="0.065307030550339775776" />
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<inertia ixx="1.578111853789072904e-05" ixy="-4.8590457654361857326e-53" ixz="1.0816309858643348454e-52" iyy="1.5781118537890654501e-05" iyz="9.8088682514084063618e-38" izz="1.9760068210357051077e-05" />
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</inertial>
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</link>
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<!-- laser_link -->
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<link name="${prefix}laser_link">
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<collision>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<!-- Laser Joint -->
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<joint name="${prefix}laser_joint" type="revolute">
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<origin xyz="8.9609515272227915335e-17 -0.61400000000000021227 -0.019999999999999972661" rpy="-3.141592653589793116 -6.1629758220391519929e-33 1.1102230246251560474e-16" />
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<parent link="base_link" />
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<child link="laser_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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<visual>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="green"/>
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</visual>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<visual>
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<origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
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</geometry>
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<material name="hikvision_ds-u02_material">
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<color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
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<geometry>
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<mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
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</geometry>
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</collision>
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<inertial>
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<origin xyz="5.3378961738545780533e-07 0.0016484827975361904598 -0.020840554768345873754" rpy="0 0 0"/>
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||||
<mass value="0.064008494238512375629" />
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||||
<inertia ixx="1.7394518695567359414e-05" ixy="-4.8731789985706151619e-10" ixz="-1.7982620680951681188e-11" iyy="3.2074360900148983727e-05" iyz="2.0892555595878115295e-06" izz="2.8321439372619351021e-05" />
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||||
</inertial>
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||||
</link>
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||||
<inertial>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001"/>
|
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</inertial>
|
||||
</link>
|
||||
|
||||
<!-- camera_link -->
|
||||
<link name="${prefix}camera_link">
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||||
<collision>
|
||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<geometry>
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||||
<box size="0.1 0.1 0.1"/>
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||||
</geometry>
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||||
</collision>
|
||||
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||||
<visual>
|
||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<geometry>
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||||
<box size="0.1 0.1 0.1"/>
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||||
</geometry>
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||||
<material name="blue"/>
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||||
</visual>
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||||
|
||||
<inertial>
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||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia
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||||
ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Camera Joint -->
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||||
<joint name="${prefix}camera_joint" type="revolute">
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||||
@ -397,6 +392,3 @@
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
||||
|
||||
|
||||
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||||
@ -11,18 +11,18 @@
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<xacro:if value="$(arg enable_joint0)">
|
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<link name="link0" />
|
||||
<joint name="joint0" type="continuous">
|
||||
<parent link="world"/>
|
||||
<child link="link0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="world" />
|
||||
<child link="link0" />
|
||||
<axis xyz="0 0 1" />
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
<xacro:if value="$(arg enable_joint1)">
|
||||
<link name="link1" />
|
||||
<joint name="joint1" type="continuous">
|
||||
<parent link="world"/>
|
||||
<child link="link1"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="world" />
|
||||
<child link="link1" />
|
||||
<axis xyz="0 0 1" />
|
||||
</joint>
|
||||
</xacro:if>
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user