2023-08-10 08:59:30 +00:00
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from description/robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="robot">
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<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
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<!-- These make use of xacro's mathematical functionality -->
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="orange">
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<color rgba="1 0.3 0.1 1"/>
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</material>
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<material name="blue">
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<color rgba="0.2 0.2 1 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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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="0.6 0.6 0.6 1.0"/>
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</material>
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<material name="grey2">
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<color rgba="0.9 0.9 0.9 1.0"/>
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</material>
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<material name="lightGrey">
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<color rgba="0.6 0.6 0.6 1.0"/>
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</material>
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<!-- BASE LINK -->
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<link name="base_link">
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</link>
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<!-- BASE_FOOTPRINT LINK -->
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<joint name="base_footprint_joint" type="fixed">
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<parent link="base_link"/>
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<child link="base_footprint"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="base_footprint">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link"/>
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<child link="chassis"/>
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<origin xyz="-0.22999999999999998 0 0.01"/>
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</joint>
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<link name="chassis">
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<visual>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="0.6 0.33 0.15"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<geometry>
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<box size="0.6 0.33 0.15"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.5"/>
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<inertia ixx="0.005475000000000001" ixy="0.0" ixz="0.0" iyy="0.0159375" iyz="0.0" izz="0.0195375"/>
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</inertial>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/Orange</material>
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</gazebo>
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<!-- LEFT WHEEL LINK -->
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<joint name="left_wheel_joint" type="continuous">
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<parent link="chassis"/>
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<child link="left_wheel"/>
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<origin rpy="-1.5707963267948966 0 0" xyz="0.22999999999999998 0.218375 0"/>
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<axis xyz="0 0 1"/>
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</joint>
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<link name="left_wheel">
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<visual>
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<geometry>
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<cylinder length="0.08" radius="0.135"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.135"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="4.0"/>
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<inertia ixx="0.020358333333333336" ixy="0.0" ixz="0.0" iyy="0.020358333333333336" iyz="0.0" izz="0.03645"/>
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</inertial>
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</link>
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<gazebo reference="left_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- RIGHT WHEEL LINK -->
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<joint name="right_wheel_joint" type="continuous">
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<parent link="chassis"/>
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<child link="right_wheel"/>
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<origin rpy="1.5707963267948966 0 0" xyz="0.22999999999999998 -0.218375 0"/>
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<axis xyz="0 0 -1"/>
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</joint>
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<link name="right_wheel">
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<visual>
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<geometry>
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<cylinder length="0.08" radius="0.135"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.135"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="4.0"/>
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<inertia ixx="0.020358333333333336" ixy="0.0" ixz="0.0" iyy="0.020358333333333336" iyz="0.0" izz="0.03645"/>
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</inertial>
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</link>
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<gazebo reference="right_wheel">
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<material>Gazebo/Blue</material>
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</gazebo>
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<!-- CASTER WHEEL LINK -->
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<joint name="caster_wheel_joint" type="fixed">
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<parent link="chassis"/>
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<child link="caster_wheel"/>
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<origin xyz="-0.15 0 -0.115"/>
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</joint>
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<link name="caster_wheel">
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.01"/>
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<inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
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</inertial>
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</link>
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<gazebo reference="caster_wheel">
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<material>Gazebo/White</material>
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<mu1 value="0.001"/>
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<mu2 value="0.001"/>
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</gazebo>
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<!-- Lidar LINK -->
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<!-- <joint name="lidar_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="${chassis_length/2 -0.150} 0 ${chassis_height + 0.030}" rpy="0 0 0"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_wheel_radius}"/>
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</geometry>
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</collision>
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<xacro:inertial_sphere mass="${caster_wheel_mass}" radius="${caster_wheel_radius}">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_sphere>
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</link> -->
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<joint name="lidar_joint" type="fixed">
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<parent link="base_link"/>
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<child link="laser_frame"/>
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2023-08-11 11:19:35 +00:00
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<origin rpy="0 0 3.141592653589793" xyz="-0.08499999999999999 0 0.18"/>
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2023-08-10 08:59:30 +00:00
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="0.01"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.01"/>
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<inertia ixx="4.0000000000000003e-07" ixy="0.0" ixz="0.0" iyy="4.0000000000000003e-07" iyz="0.0" izz="4.0000000000000003e-07"/>
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</inertial>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/White</material>
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</gazebo>
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<ros2_control name="RealRobot" type="system">
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<hardware>
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<plugin>diffdrive_arduino/DiffDriveArduino</plugin>
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<param name="left_wheel_name">left_wheel_joint</param>
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<param name="right_wheel_name">right_wheel_joint</param>
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<param name="loop_rate">30</param>
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<param name="device">/dev/ttyUSB0</param>
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<param name="baud_rate">57600</param>
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<param name="timeout">1000</param>
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<param name="enc_counts_per_rev">3436</param>
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</hardware>
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<joint name="left_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="right_wheel_joint">
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<command_interface name="velocity">
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<param name="min">-10</param>
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<param name="max">10</param>
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</command_interface>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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<gazebo>
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<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
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<parameters>/home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/my_controllers.yaml</parameters>
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<parameters>/home/bjorn/Documents/ros_projects/cps_rmp220_support/install/cps_rmp220_support/share/cps_rmp220_support/config/gaz_ros2_ctl_use_sim.yaml</parameters>
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</plugin>
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</gazebo>
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<joint name="camera_joint" type="fixed">
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<parent link="chassis"/>
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<child link="camera_link"/>
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<origin rpy="0 0 0" xyz="0.276 0 0.181"/>
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</joint>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="0.010 0.03 0.03"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin xyz="0 0 -0.05"/>
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<geometry>
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<cylinder length="0.1" radius="0.002"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="camera_optical_joint" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_link_optical"/>
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<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
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</joint>
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<link name="camera_link_optical"/>
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<gazebo reference="camera_link">
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<material>Gazebo/Black</material>
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<sensor name="camera" type="camera">
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<pose> 0 0 0 0 0 0 </pose>
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<visualize>true</visualize>
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<update_rate>10</update_rate>
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<camera>
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<horizontal_fov>1.089</horizontal_fov>
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<image>
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<format>R8G8B8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
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<frame_name>camera_link_optical</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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<!-- <xacro:include filename="depth_camera.xacro" /> -->
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<joint name="face_joint" type="fixed">
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<parent link="chassis"/>
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<child link="face_link"/>
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<origin rpy="0 0 0" xyz="0.3 0 0.075"/>
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</joint>
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<link name="face_link">
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 0.05 0.01"/>
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<geometry>
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<cylinder length="0.002" radius="0.01"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin rpy="0 1.5707963267948966 0" xyz="0 -0.05 0.01"/>
|
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|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.002" radius="0.01"/>
|
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|
|
|
</geometry>
|
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|
|
|
<material name="black"/>
|
|
|
|
|
</visual>
|
|
|
|
|
<visual>
|
|
|
|
|
<origin rpy="0 1.5 0" xyz="-0.011 0 -0.00"/>
|
|
|
|
|
<geometry>
|
|
|
|
|
<cylinder length="0.02" radius="0.05"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="red"/>
|
|
|
|
|
</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<gazebo reference="face_link">
|
|
|
|
|
<material>Gazebo/Black</material>
|
|
|
|
|
</gazebo>
|
|
|
|
|
</robot>
|
