mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-21 23:23:49 +00:00
update
This commit is contained in:
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e1be35f4a4
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@ -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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@ -4,7 +4,7 @@
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<xacro:macro name="diffbot" params="prefix">
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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="PI" value="3.1415926535897931" />
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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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@ -12,59 +12,63 @@
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<xacro:property name="wheel_mass" value="0.3" /> <!-- 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" /> <!-- arbitrary value for caster wheel mass -->
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<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel
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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}" /> <!-- Space btw top of beam and the each joint -->
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<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the
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each joint -->
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<!-- dummy link - used for ros2 control so it stops complaining? -->
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<link name="${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="${prefix}base_link"/>
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<parent link="${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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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
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<box size="${base_length} ${base_width} ${base_height}" /> <!-- Updated base dimensions -->
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
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<origin xyz="0 0 ${base_height/2}" rpy="0 0 0" />
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
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<box size="${base_length} ${base_width} ${base_height}" /> <!-- Updated base dimensions -->
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</geometry>
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<material name="orange"/>
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<material name="orange" />
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${base_mass}"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="${base_mass}" />
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<inertia
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ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0"
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ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0"
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ixz="0.0"
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iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
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izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
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izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}" />
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</inertial>
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</link>
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<joint name="${prefix}left_wheel_joint" type="continuous">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}left_wheel"/>
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
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<axis xyz="0 1 0"/>
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<dynamics damping="0.2"/>
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<parent link="${prefix}base_link" />
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<child link="${prefix}left_wheel" />
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0" /> <!-- Updated wheel position -->
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<axis xyz="0 1 0" />
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<dynamics damping="0.2" />
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</joint>
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<!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the shadow) -->
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<!-- BASE_FOOTPRINT LINK (Used for SLAM: Should be oin the ground beneath the robo like the
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shadow) -->
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<joint name="${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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<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="${prefix}base_footprint">
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@ -73,167 +77,167 @@
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<!-- left wheel Link -->
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<link name="${prefix}left_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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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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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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<cylinder length="${wheel_len}" radius="${wheel_radius}" />
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</geometry>
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<material name="black"/>
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<material name="black" />
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</visual>
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<inertial>
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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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<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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" />
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</inertial>
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</link>
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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 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
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<axis xyz="0 -1 0"/>
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<dynamics damping="0.2"/>
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<parent link="${prefix}base_link" />
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<child link="${prefix}right_wheel" />
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<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0" /> <!-- Updated wheel position -->
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<axis xyz="0 -1 0" />
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<dynamics damping="0.2" />
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</joint>
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<!-- right wheel Link -->
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<link name="${prefix}right_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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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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<visual>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_len}" radius="${wheel_radius}"/>
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<cylinder length="${wheel_len}" radius="${wheel_radius}" />
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</geometry>
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<material name="black"/>
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<material name="black" />
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</visual>
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<inertial>
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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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<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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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izz="${wheel_mass / 12.0 * wheel_radius*wheel_radius}" />
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</inertial>
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</link>
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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 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
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<parent link="${prefix}base_link" />
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<child link="${prefix}caster_wheel" />
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<origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0" /> <!-- Updated caster wheel position -->
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</joint>
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<!-- caster wheel Link -->
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<link name="${prefix}caster_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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<sphere radius="${caster_wheel_radius}" />
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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<sphere radius="${caster_wheel_radius}" />
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</geometry>
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<material name="white"/>
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<material name="white" />
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="${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="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
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ixx="${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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</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 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<!-- laser_link -->
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<link name="${prefix}laser_link">
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<collision>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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</collision>
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<visual>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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<material name="green"/>
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</visual>
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<visual>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="green" />
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</visual>
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<inertial>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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<mass value="0.1"/>
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001"/>
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</inertial>
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</link>
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<inertial>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0" />
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<mass value="0.1" />
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<collision>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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<!-- camera_link -->
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<link name="${prefix}camera_link">
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<collision>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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</collision>
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<visual>
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<origin xyz="${base_length/2} 0 0" 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="blue"/>
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</visual>
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<visual>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.1 0.1 0.1" />
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</geometry>
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<material name="blue" />
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</visual>
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<inertial>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
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<mass value="0.1"/>
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001"/>
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</inertial>
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</link>
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<inertial>
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<origin xyz="${base_length/2} 0 0" rpy="0 0 0" />
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<mass value="0.1" />
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<inertia
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ixx="0.001" ixy="0.0" ixz="0.0"
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iyy="0.001" iyz="0.0"
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izz="0.001" />
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</inertial>
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</link>
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<!-- Base Joint -->
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<joint name="${prefix}base_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}laser_link"/>
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<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
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</joint>
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<!-- Base Joint -->
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<joint name="${prefix}base_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}laser_link" />
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<origin xyz="0 0 ${base_height}" rpy="0 0 0" />
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</joint>
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<!-- Front Joint -->
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<joint name="${prefix}front_joint" type="fixed">
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<parent link="${prefix}laser_link"/>
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<child link="${prefix}camera_link"/>
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
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</joint>
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<!-- Front Joint -->
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<joint name="${prefix}front_joint" type="fixed">
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<parent link="${prefix}laser_link" />
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<child link="${prefix}camera_link" />
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<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0" />
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</joint>
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</xacro:macro>
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</robot>
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@ -11,18 +11,18 @@
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<xacro:if value="$(arg enable_joint0)">
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<link name="link0" />
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<joint name="joint0" type="continuous">
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<parent link="world"/>
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<child link="link0"/>
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<axis xyz="0 0 1"/>
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<parent link="world" />
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<child link="link0" />
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<axis xyz="0 0 1" />
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</joint>
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</xacro:if>
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|
||||
<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