ellensohn/cps_loki_description
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Björn Ellensohn 2023-06-06 10:53:36 +02:00
parent e1be35f4a4
commit 467fb49a8c
5 changed files with 144 additions and 140 deletions
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12
urdf/diffbot_description.urdf.xacro
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@ -12,9 +12,11 @@
<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 -->
<xacro:property name="wheel_len" value="0.020" /> <xacro:property name="wheel_len" value="0.020" />
<xacro:property name="wheel_radius" value="0.0625" /> <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_mass" value="0.1" /> <!-- 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="-${base_height/2}" /> <!-- Space btw top of beam and the each joint --> <xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the
each joint -->
<!-- dummy link - used for ros2 control so it stops complaining? --> <!-- dummy link - used for ros2 control so it stops complaining? -->
<link name="${prefix}dummy"> <link name="${prefix}dummy">
@ -46,7 +48,8 @@
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<mass value="${base_mass}" /> <mass value="${base_mass}" />
<inertia <inertia
ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0" ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0"
ixz="0.0"
iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0" iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}" /> izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}" />
</inertial> </inertial>
@ -60,7 +63,8 @@
<dynamics damping="0.2" /> <dynamics damping="0.2" />
</joint> </joint>
<!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the shadow) --> <!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the
shadow) -->
<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" />