mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-21 23:23:49 +00:00
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This commit is contained in:
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5c97dd15d5
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5
setup.py
5
setup.py
@ -1,15 +1,18 @@
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import os
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from glob import glob
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from setuptools import setup
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package_name = 'bot_mini_description'
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setup(
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name=package_name,
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version='0.0.0',
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version='0.0.1',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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(os.path.join('share', package_name), glob('urdf/*.xacro')),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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40
urdf/diffbot.materials.xacro
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40
urdf/diffbot.materials.xacro
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<?xml version="1.0"?>
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<!--
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Copied from ROS1 example:
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https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_description/urdf/materials.xacro
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-->
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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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</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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</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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</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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</material>
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<material name="orange">
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<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
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</material>
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<material name="brown">
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<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
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</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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</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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</material>
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</robot>
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184
urdf/diffbot_description.urdf.xacro
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184
urdf/diffbot_description.urdf.xacro
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<?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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<!-- 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" /> <!-- arbitrary value for base mass -->
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<xacro:property name="base_width" value="0.26" />
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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" /> <!-- 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_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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<!-- Base Link -->
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<link name="${prefix}base_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="${base_width} ${base_length} ${base_height}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
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<geometry>
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<box size="${base_width} ${base_length} ${base_height}"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${base_mass}"/>
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<inertia
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ixx="${base_mass / 12.0 * (base_length*base_length + base_height*base_height)}" ixy="0.0" ixz="0.0"
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iyy="${base_mass / 12.0 * (base_height*base_height + base_width*base_width)}" iyz="0.0"
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izz="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
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</inertial>
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</link>
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<joint name="${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="0 -0.07 ${z_offset}" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<dynamics damping="0.2"/>
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</joint>
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<!-- left wheel Link -->
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<link name="${prefix}left_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${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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<geometry>
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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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</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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<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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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</inertial>
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</link>
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<joint name="${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="0 -0.07 ${z_offset}" rpy="0 0 0"/>
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<axis xyz="0 -1 0"/>
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<dynamics damping="0.2"/>
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</joint>
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<!-- right wheel Link -->
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<link name="${prefix}right_wheel">
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<collision>
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<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
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<geometry>
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<cylinder length="${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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<geometry>
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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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</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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<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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
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</inertial>
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</link>
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<joint name="${prefix}caster_frontal_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_frontal_wheel"/>
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<origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
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</joint>
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<!-- caster frontal wheel Link -->
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<link name="${prefix}caster_frontal_wheel">
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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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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
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iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
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izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
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</inertial>
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</link>
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<joint name="${prefix}caster_rear_wheel_joint" type="fixed">
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<parent link="${prefix}base_link"/>
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<child link="${prefix}caster_rear_wheel"/>
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<origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
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</joint>
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<!-- caster rear wheel Link -->
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<link name="${prefix}caster_rear_wheel">
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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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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<mass value="${caster_wheel_mass}"/>
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<inertia
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ixx="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" ixy="0.0" ixz="0.0"
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iyy="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}" iyz="0.0"
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izz="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
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</inertial>
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</link>
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</xacro:macro>
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</robot>
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37
urdf/odrive.ros2_control.xacro
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37
urdf/odrive.ros2_control.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="odrive_ros2_control"
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params="name serial_number:=^|000000000000 enable_joint0:=^|true enable_joint1:=^|true joint0_name:=^|joint0 joint1_name:=^|joint1">
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<ros2_control name="${name}" type="system">
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<hardware>
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<plugin>odrive_hardware_interface/ODriveHardwareInterface</plugin>
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</hardware>
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<sensor name="odrv0">
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<param name="serial_number">${serial_number}</param>
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</sensor>
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<xacro:if value="${enable_joint0}">
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<joint name="${joint0_name}">
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<param name="serial_number">${serial_number}</param>
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<param name="axis">0</param>
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<param name="enable_watchdog">1</param>
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<param name="watchdog_timeout">0.1</param>
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</joint>
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</xacro:if>
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<xacro:if value="${enable_joint1}">
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<joint name="${joint1_name}">
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<param name="serial_number">${serial_number}</param>
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<param name="axis">1</param>
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<param name="enable_watchdog">1</param>
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<param name="watchdog_timeout">0.1</param>
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</joint>
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</xacro:if>
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</ros2_control>
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</xacro:macro>
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</robot>
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34
urdf/odrive.urdf.xacro
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34
urdf/odrive.urdf.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="odrive">
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<xacro:arg name="enable_joint0" default="true" />
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<xacro:arg name="enable_joint1" default="true" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<link name="world" />
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<xacro:if value="$(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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</joint>
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</xacro:if>
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<xacro:if value="$(arg enable_joint1)">
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<link name="link1" />
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<joint name="joint1" type="continuous">
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<parent link="world"/>
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<child link="link1"/>
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<axis xyz="0 0 1"/>
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</joint>
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</xacro:if>
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<xacro:odrive_ros2_control
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name="odrive_ros2_control"
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enable_joint0="$(arg enable_joint0)"
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enable_joint1="$(arg enable_joint1)" />
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</robot>
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19
urdf/odrive_diffbot.urdf.xacro
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19
urdf/odrive_diffbot.urdf.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">
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<xacro:arg name="prefix" default="" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/diffbot_description.urdf.xacro" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/diffbot.materials.xacro" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<xacro:diffbot prefix="$(arg prefix)" />
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<xacro:odrive_ros2_control
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name="ODriveDiffBot"
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joint0_name="$(arg prefix)left_wheel_joint"
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joint1_name="$(arg prefix)right_wheel_joint" />
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</robot>
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23
urdf/odrive_rrbot.urdf.xacro
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23
urdf/odrive_rrbot.urdf.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="2dof_robot">
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<xacro:arg name="prefix" default="" />
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<xacro:include filename="$(find rrbot_description)/urdf/rrbot_description.urdf.xacro" />
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<xacro:include filename="$(find rrbot_description)/gazebo/rrbot.materials.xacro" />
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<xacro:include filename="$(find odrive_demo_description)/urdf/odrive.ros2_control.xacro" />
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<link name="world"/>
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<xacro:rrbot parent="world" prefix="$(arg prefix)">
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<origin xyz="0 0 0" rpy="0 0 0" />
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</xacro:rrbot>
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<xacro:odrive_ros2_control
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name="ODriveRRBot"
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joint0_name="$(arg prefix)joint1"
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joint1_name="$(arg prefix)joint2" />
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</robot>
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Block a user