mirror of
https://github.com/bjoernellens1/cps_loki_description.git
synced 2024-11-22 07:33:48 +00:00
changed urdf
This commit is contained in:
parent
e699cb4361
commit
d1010ff240
@ -1,12 +1,12 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="" params="prefix">
|
||||
<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_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 -->
|
||||
@ -21,14 +21,14 @@
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${base_width} ${base_length} ${base_height}"/>
|
||||
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 ${base_height/2}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${base_width} ${base_length} ${base_height}"/>
|
||||
<box size="${base_length} ${base_width} ${base_height}"/> <!-- Updated base dimensions -->
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
@ -46,7 +46,7 @@
|
||||
<joint name="${prefix}left_wheel_joint" type="continuous">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}left_wheel"/>
|
||||
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
|
||||
<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.2"/>
|
||||
</joint>
|
||||
@ -81,7 +81,7 @@
|
||||
<joint name="${prefix}right_wheel_joint" type="continuous">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}right_wheel"/>
|
||||
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
|
||||
<origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
|
||||
<axis xyz="0 -1 0"/>
|
||||
<dynamics damping="0.2"/>
|
||||
</joint>
|
||||
@ -113,14 +113,14 @@
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}caster_frontal_wheel_joint" type="fixed">
|
||||
<joint name="${prefix}caster_wheel_joint" type="fixed">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}caster_frontal_wheel"/>
|
||||
<origin xyz="${base_width/2 - caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
|
||||
<child link="${prefix}caster_wheel"/>
|
||||
<origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
|
||||
</joint>
|
||||
|
||||
<!-- caster frontal wheel Link -->
|
||||
<link name="${prefix}caster_frontal_wheel">
|
||||
<!-- caster wheel Link -->
|
||||
<link name="${prefix}caster_wheel">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
@ -140,83 +140,86 @@
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<mass value="${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="${caster_wheel_mass * 0.4 * (caster_wheel_radius * caster_wheel_radius)}"/>
|
||||
ixx="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
|
||||
ixy="0.0" ixz="0.0"
|
||||
iyy="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"
|
||||
iyz="0.0"
|
||||
izz="${2.0/5.0 * caster_wheel_mass * caster_wheel_radius * caster_wheel_radius}"/>
|
||||
</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 ${z_offset}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- caster rear wheel Link -->
|
||||
<link name="${prefix}caster_rear_wheel">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${caster_wheel_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${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>
|
||||
|
||||
<!-- Laser Link -->
|
||||
<!-- laser_link -->
|
||||
<link name="${prefix}laser_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
|
||||
<collision>
|
||||
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<!-- Define the geometry of the laser link, e.g., a cylinder -->
|
||||
<cylinder length="0.05" radius="0.02"/>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Joint between Base Link and Laser Link -->
|
||||
<joint name="${prefix}laser_joint" type="fixed">
|
||||
<!-- camera_link -->
|
||||
<link name="${prefix}camera_link">
|
||||
<collision>
|
||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="${base_length/2} 0 0" rpy="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia
|
||||
ixx="0.001" ixy="0.0" ixz="0.0"
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Base Joint -->
|
||||
<joint name="${prefix}base_joint" type="fixed">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}laser_link"/>
|
||||
<origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- Camera Link -->
|
||||
<link name="${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} ${z_offset + base_height}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<!-- Front Joint -->
|
||||
<joint name="${prefix}front_joint" type="fixed">
|
||||
<parent link="${prefix}laser_link"/>
|
||||
<child link="${prefix}camera_link"/>
|
||||
<origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
<!-- Include the macro to create the diffbot -->
|
||||
<xacro:diffbot prefix=""/>
|
||||
</robot>
|
||||
|
||||
|
||||
|
||||
|
||||
222
urdf/diffbot_description.urdf.xacro.bak
Normal file
222
urdf/diffbot_description.urdf.xacro.bak
Normal file
@ -0,0 +1,222 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="" params="prefix">
|
||||
|
||||
<!-- Constants for robot dimensions -->
|
||||
<xacro:property name="PI" value="3.1415926535897931"/>
|
||||
<xacro:property name="base_mass" value="0.3" /> <!-- arbitrary value for base mass -->
|
||||
<xacro:property name="base_width" value="0.26" />
|
||||
<xacro:property name="base_length" value="0.34" />
|
||||
<xacro:property name="base_height" value="0.1" />
|
||||
<xacro:property name="wheel_mass" value="0.3" /> <!-- arbitrary value for wheel mass -->
|
||||
<xacro:property name="wheel_len" value="0.020" />
|
||||
<xacro:property name="wheel_radius" value="0.0625" />
|
||||
<xacro:property name="caster_wheel_mass" value="0.1" /> <!-- arbitrary value for caster wheel mass -->
|
||||
<xacro:property name="caster_wheel_radius" value="0.04" />
|
||||
<xacro:property name="z_offset" value="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
|
||||
|
||||
<!-- 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="${base_mass / 12.0 * (base_width*base_width + base_length*base_length)}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}left_wheel_joint" type="continuous">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}left_wheel"/>
|
||||
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.2"/>
|
||||
</joint>
|
||||
|
||||
<!-- left wheel Link -->
|
||||
<link name="${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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${prefix}right_wheel_joint" type="continuous">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}right_wheel"/>
|
||||
<origin xyz="0 -0.07 ${z_offset}" rpy="0 0 0"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<dynamics damping="0.2"/>
|
||||
</joint>
|
||||
|
||||
<!-- right wheel Link -->
|
||||
<link name="${prefix}right_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="${wheel_mass / 12.0 * wheel_radius*wheel_radius}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${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 ${z_offset}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- caster frontal wheel Link -->
|
||||
<link name="${prefix}caster_frontal_wheel">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${caster_wheel_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${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>
|
||||
|
||||
<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 ${z_offset}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- caster rear wheel Link -->
|
||||
<link name="${prefix}caster_rear_wheel">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${caster_wheel_radius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${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>
|
||||
|
||||
<!-- Laser Link -->
|
||||
<link name="${prefix}laser_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 ${base_height}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<!-- Define the geometry of the laser link, e.g., a cylinder -->
|
||||
<cylinder length="0.05" radius="0.02"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<!-- Joint between Base Link and Laser Link -->
|
||||
<joint name="${prefix}laser_joint" type="fixed">
|
||||
<parent link="${prefix}base_link"/>
|
||||
<child link="${prefix}laser_link"/>
|
||||
<origin xyz="0 ${base_length/2} ${z_offset}" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- Camera Link -->
|
||||
<link name="${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>
|
||||
|
||||
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
Loading…
Reference in New Issue
Block a user