From d36ef809f6f3d9f9f869ad8d9988a96a452a3708 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 12 Jun 2023 09:44:01 +0200 Subject: [PATCH] proper robot model from inshape --- mesh/base_frame.stl | Bin 0 -> 684 bytes mesh/camera_frame.stl | Bin 0 -> 782584 bytes mesh/caster_angle.stl | Bin 0 -> 684 bytes mesh/caster_bearing_frame.stl | Bin 0 -> 14484 bytes mesh/caster_connector.stl | Bin 0 -> 684 bytes mesh/caster_frame_left.stl | Bin 0 -> 884 bytes mesh/caster_frame_right.stl | Bin 0 -> 884 bytes mesh/caster_frame_top.stl | Bin 0 -> 7684 bytes mesh/caster_wheel.stl | Bin 0 -> 14484 bytes mesh/laser_frame.stl | Bin 0 -> 28884 bytes mesh/left_motor.stl | Bin 0 -> 28884 bytes mesh/left_motor_frame.stl | Bin 0 -> 15284 bytes mesh/left_wheel.stl | Bin 0 -> 273684 bytes mesh/motor_bar_frame.stl | Bin 0 -> 684 bytes mesh/right_motor.stl | Bin 0 -> 28884 bytes mesh/right_motor_frame.stl | Bin 0 -> 15284 bytes mesh/wheel_frame.stl | Bin 0 -> 684 bytes setup.py | 1 + urdf/diffbot_description.urdf.xacro | 505 +++++++++++++++-------- urdf/diffbot_description.urdf.xacro.bak2 | 223 ++++++++++ urdf/robot.urdf | 294 +++++++++++++ 21 files changed, 860 insertions(+), 163 deletions(-) create mode 100644 mesh/base_frame.stl create mode 100644 mesh/camera_frame.stl create mode 100644 mesh/caster_angle.stl create mode 100644 mesh/caster_bearing_frame.stl create mode 100644 mesh/caster_connector.stl create mode 100644 mesh/caster_frame_left.stl create mode 100644 mesh/caster_frame_right.stl create mode 100644 mesh/caster_frame_top.stl create mode 100644 mesh/caster_wheel.stl create mode 100644 mesh/laser_frame.stl create mode 100644 mesh/left_motor.stl create mode 100644 mesh/left_motor_frame.stl create mode 100644 mesh/left_wheel.stl create mode 100644 mesh/motor_bar_frame.stl create mode 100644 mesh/right_motor.stl create mode 100644 mesh/right_motor_frame.stl create mode 100644 mesh/wheel_frame.stl create mode 100644 urdf/diffbot_description.urdf.xacro.bak2 create mode 100644 urdf/robot.urdf diff --git a/mesh/base_frame.stl b/mesh/base_frame.stl new file mode 100644 index 0000000000000000000000000000000000000000..db4d9f76d6a8995e2bae59a24a03647f68df65bc GIT binary patch literal 684 zcmb`Eu@S;R3jw(C|j{r<6=D}O{(7h0}J`VxWKoVl-cz305pqR}#YzGgr$y%nM#5w^q-c85sU z51l>{nsYECZ$U{(Y#Z^mBie35(W1QmYTGGX8}t2(r>8 cjU$uL)V2{SzO?;~W*-kF!VsBN2^=Hw1|?meBLDyZ literal 0 HcmV?d00001 diff --git a/mesh/camera_frame.stl b/mesh/camera_frame.stl new file mode 100644 index 0000000000000000000000000000000000000000..83ba455323674174b286e821437f8009e5505a33 GIT binary patch literal 782584 zcmb@P2iP4&_5TNwNC~|Nh=PQw6e%Jk_rCWP6zMf+06{>&0w_pRL%Z})LkkcP2}!6C zL_k{ZdtZ7}ngkFKr1y?U`BDDoduG0y@9geHeV%_FCG+e#pZU(t&d!`EdlSO{-#;Vz zLYQ>Zq5YFCU3~yKFY&~<&f{Ntzd8M!i<*l)Kd!UjuK#ZC^NWj%G_Hs68P>k8^7%zf8h?UK?_Q9`ZC9M7WnvIuEFaSBB(_P zrX%sC<@f9V+P@~c1})Gy^M}WF&e$|+@Op&^YEgpeNGx*1p8b2hb&G4z0*!OdKejV| z>brg)yj~%KT9jZq61y$9OaFF1f6X;$fyToBKDM*|tWks4D@0I>5==*8pO?n;pLD_; 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zn~cf{&T8ZvkBS!cOD)^X=!DiTD&Z!fu*s+zMC1E#7qz-&3`Cs~--i>_K4I+Q->F7d WU;gg$zUuAd?|ULqnQ)iuf%qTNZ2%+y literal 0 HcmV?d00001 diff --git a/mesh/wheel_frame.stl b/mesh/wheel_frame.stl new file mode 100644 index 0000000000000000000000000000000000000000..4403563942758dc2fe0d34a823aca60a703ffb0f GIT binary patch literal 684 zcmb_YF%AMT49kr8QgtKW$`5!1J1+p8#C*)mJc6CrJy&VONTgP7YA12b{u{@soUhl@ z`~KXvc6eQGz~{$DxG6s*Zq^l&E~9 literal 0 HcmV?d00001 diff --git a/setup.py b/setup.py index 060b33d..40d8227 100644 --- a/setup.py +++ b/setup.py @@ -13,6 +13,7 @@ setup( ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), (os.path.join('share', package_name, 'urdf'), glob('urdf/*.xacro')), + (os.path.join('share', package_name, 'mesh'), glob('mesh/*.stl')), ], install_requires=['setuptools'], zip_safe=True, diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro index bd4fba9..563d08e 100644 --- a/urdf/diffbot_description.urdf.xacro +++ 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- - - - - + + + + + + + + + diff --git a/urdf/diffbot_description.urdf.xacro.bak2 b/urdf/diffbot_description.urdf.xacro.bak2 new file mode 100644 index 0000000..bd4fba9 --- /dev/null +++ b/urdf/diffbot_description.urdf.xacro.bak2 @@ -0,0 +1,223 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/robot.urdf b/urdf/robot.urdf new file mode 100644 index 0000000..9785d69 --- /dev/null +++ b/urdf/robot.urdf @@ -0,0 +1,294 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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