From d7639a1d847aad3a1edd03d9522d3d662818a938 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 12 Jun 2023 09:52:34 +0200
Subject: [PATCH] update: resolve merge

---
 urdf/diffbot_description.urdf.xacro | 391 ++++++++++++++++++++++++++++
 1 file changed, 391 insertions(+)

diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 839ed6b..dd0eab3 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -1,3 +1,394 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <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="0.25" /> <!-- 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 -->
+    <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="-${base_height/2}" /> <!-- Space btw top of beam and the each joint -->
+
+    <!-- dummy link - used for ros2 control so it stops complaining? -->
+    <link name="${prefix}dummy">
+    </link>
+
+    <joint name="${prefix}dummy_joint" type="fixed">
+      <parent link="${prefix}dummy" />
+      <child link="${prefix}base_link" />
+    </joint>
+
+    <!-- Base Link -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl" />
+        </geometry>
+        <material name="right_motor_material">
+          <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl" />
+        </geometry>
+        <material name="motor_bar_frame_material">
+          <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl" />
+        </geometry>
+        <material name="base_frame_material">
+          <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl" />
+        </geometry>
+        <material name="left_motor_material">
+          <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl" />
+        </geometry>
+        <material name="caster_connector_material">
+          <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl" />
+        </geometry>
+        <material name="right_motor_frame_material">
+          <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl" />
+        </geometry>
+        <material name="left_motor_frame_material">
+          <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
+        </geometry>
+        <material name="orange"/>
+      </visual>
+      <collision>
+        <origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
+        </geometry>
+        <material name="black"/>
+      </visual>
+      <collision>
+        <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="7.8715304751559223009e-17 -0.50594215569207112715 -0.048387297397152334577" rpy="0 0 0" />
+        <mass value="8.4777020573643113721" />
+        <inertia ixx="0.091076661684079157633" ixy="1.1626534456871032806e-17" ixz="2.9892835648942556204e-18" iyy="0.055622455227950687306" iyz="-0.010811144091914795182" izz="0.1312992311107717136" />
+      </inertial>
+    </link>
+
+    <joint name="${prefix}right_wheel_joint" type="continuous">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}right_wheel"/>
+      <origin xyz="${base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated wheel position -->
+      <axis xyz="0 -1 0"/>
+      <dynamics damping="0.2"/>
+    </joint>
+
+    <!-- right wheel Link -->
+    <link name="${prefix}right_wheel">
+      <visual>
+        <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+        </geometry>
+        <material name="left_wheel_material">
+          <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
+        <geometry>
+          <cylinder length="${wheel_len}" radius="${wheel_radius}"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="1.3877787807814456755e-17 1.3877787807814456755e-17 -0.017500000000000015543" rpy="0 0 0" />
+        <mass value="0.43298678305638949038" />
+        <inertia ixx="0.00043196650576949035269" ixy="0" ixz="1.8666117243005040269e-36" iyy="0.00043196650576949029848" iyz="0" izz="0.00078373880522818965139" />
+      </inertial>
+    </link>
+
+    <!-- left wheel joint -->
+    <joint name="${prefix}left_wheel_joint" type="revolute">
+      <origin xyz="0.12500000000000013878 -0.58900000000000007905 -0.10500000000000003775" rpy="1.57079632679489678 -1.1102230246251567869e-16 -1.570796326794896558" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}left_wheel" />
+      <axis xyz="0 0 1" />
+      <limit effort="1" velocity="20" />
+      <joint_properties friction="0.0" />
+    </joint>
+
+    <!-- left wheel Link -->
+    <link name="${prefix}left_wheel">
+      <visual>
+        <origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
+        <geometry>
+          <cylinder length="${wheel_len}" radius="${wheel_radius}"/>
+        </geometry>
+        <material name="black"/>
+      </visual>
+      <collision>
+        <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="${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="${prefix}caster_wheel_joint" type="fixed">
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}caster_wheel"/>
+      <origin xyz="${-base_length/2} 0 ${z_offset}" rpy="0 0 0"/> <!-- Updated caster wheel position -->
+    </joint>
+
+    <!-- caster wheel Link -->
+    <link name="${prefix}caster_wheel">
+      <visual>
+        <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl" />
+        </geometry>
+        <material name="caster_wheel_material">
+          <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl" />
+        </geometry>
+        <material name="caster_bearing_frame_material">
+          <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl" />
+        </geometry>
+        <material name="caster_frame_left_material">
+          <color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl" />
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl" />
+        </geometry>
+        <material name="caster_frame_top_material">
+          <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="${caster_wheel_radius}"/>
+        </geometry>
+      </collision>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <sphere radius="${caster_wheel_radius}"/>
+        </geometry>
+        <material name="white"/>
+      </visual>
+      <collision>
+        <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
+        <geometry>
+          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="${caster_wheel_mass}"/>
+        <inertia
+              ixx="${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>
+
+      <!-- laser_link -->
+      <link name="${prefix}laser_link">
+        <collision>
+          <origin xyz="${base_length/2} 0 ${base_height}" rpy="0 0 0"/>
+          <geometry>
+            <box size="0.1 0.1 0.1"/>
+          </geometry>
+        </collision>
+
+        <visual>
+          <origin xyz="${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 ${base_height}" rpy="0 0 0"/>
+          <mass value="0.1"/>
+          <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+        </inertial>
+      </link>
+
+      <!-- camera_link -->
+      <link name="${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="${base_length/2} 0 0" rpy="0 0 0"/>
+          <mass value="0.1"/>
+          <inertia
+            ixx="0.001" ixy="0.0" ixz="0.0"
+            iyy="0.001" iyz="0.0"
+            izz="0.001"/>
+        </inertial>
+      </link>
+
+    <!-- Camera Joint -->
+    <joint name="${prefix}camera_joint" type="revolute">
+      <origin xyz="9.7569399001892381731e-17 -0.6290000000000002256 -0.045000000000000005274" rpy="6.1062266354383530837e-16 1.1102230246251567869e-16 3.141592653589793116" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}camera_link" />
+      <axis xyz="0 0 1"/>
+      <limit effort="1" velocity="20" />
+      <joint_properties friction="0.0"/>
+    </joint>
 
   </xacro:macro>
 </robot>
\ No newline at end of file