mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
Merge pull request #2 from westonrobot/feature-update_scout_mini
Feature update scout mini
This commit is contained in:
Pin Loon Lee
GitHub
22
scout_bringup/launch/scout_mini_minimal.launch
Normal file
22
scout_bringup/launch/scout_mini_minimal.launch
Normal file
@@ -0,0 +1,22 @@
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|||||||
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<launch>
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||||||
|
|
||||||
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<arg name="port_name" value="can0" />
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||||||
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<arg name="is_scout_mini" default="true" />
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||||||
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<arg name="is_omni_wheel" default="false" />
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||||||
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<arg name="simulated_robot" value="false" />
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||||||
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<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
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||||||
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<arg name="odom_topic_name" default="odom" />
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||||||
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||||||
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<include file="$(find scout_base)/launch/scout_mini_base.launch">
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||||||
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<arg name="port_name" default="$(arg port_name)" />
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||||||
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<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
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||||||
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<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
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||||||
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<arg name="simulated_robot" default="$(arg simulated_robot)" />
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||||||
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<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
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||||||
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</include>
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||||||
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||||||
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<include file="$(find scout_description)/launch/description.launch">
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||||||
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<arg name="model_xacro" default="$(arg model_xacro)" />
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||||||
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</include>
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||||||
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||||||
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</launch>
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||||||
23
scout_bringup/launch/scout_mini_omni_minimal.launch
Normal file
23
scout_bringup/launch/scout_mini_omni_minimal.launch
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@@ -0,0 +1,23 @@
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|||||||
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<launch>
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||||||
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||||||
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<arg name="port_name" value="can0" />
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||||||
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<arg name="is_scout_mini" default="true" />
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||||||
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<arg name="is_omni_wheel" default="true" />
|
||||||
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<arg name="simulated_robot" value="false" />
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||||||
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<arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_v2.xacro" />
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||||||
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<!-- <arg name="model_xacro" default="$(find scout_description)/urdf/scout_mini_omni_v2.xacro" /> -->
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<arg name="odom_topic_name" default="odom" />
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<include file="$(find scout_base)/launch/scout_mini_omni_base.launch">
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<arg name="port_name" default="$(arg port_name)" />
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<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
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||||||
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<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
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||||||
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<arg name="simulated_robot" default="$(arg simulated_robot)" />
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||||||
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<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
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</include>
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<include file="$(find scout_description)/launch/description.launch">
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<arg name="model_xacro" default="$(arg model_xacro)" />
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</include>
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</launch>
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@@ -1,12 +1,16 @@
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<launch>
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<launch>
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<arg name="port_name" value="can0" />
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<arg name="port_name" value="can0" />
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<arg name="is_scout_mini" default="false" />
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<arg name="is_omni_wheel" default="false" />
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<arg name="simulated_robot" value="false" />
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<arg name="simulated_robot" value="false" />
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<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
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<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
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<arg name="odom_topic_name" default="odom" />
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<arg name="odom_topic_name" default="odom" />
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<include file="$(find scout_base)/launch/scout_base.launch">
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<include file="$(find scout_base)/launch/scout_base.launch">
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<arg name="port_name" default="$(arg port_name)" />
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<arg name="port_name" default="$(arg port_name)" />
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<arg name="is_scout_mini" default="$(arg is_scout_mini)" />
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<arg name="is_omni_wheel" default="$(arg is_omni_wheel)" />
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<arg name="simulated_robot" default="$(arg simulated_robot)" />
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<arg name="simulated_robot" default="$(arg simulated_robot)" />
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<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
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<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
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</include>
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</include>
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|
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59
scout_description/meshes/mini_base_link.dae
Normal file
59
scout_description/meshes/mini_base_link.dae
Normal file
File diff suppressed because one or more lines are too long
59
scout_description/meshes/mini_wheel.dae
Normal file
59
scout_description/meshes/mini_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
144
scout_description/urdf/scout_mini.urdf
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144
scout_description/urdf/scout_mini.urdf
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@@ -0,0 +1,144 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from scout_mini_v2.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="scout_mini_v2">
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<!-- Base link -->
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<link name="base_link">
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/mini_base_link.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.008"/>
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<geometry>
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<box size="0.595 0.395 0.13"/>
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</geometry>
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</collision>
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</link>
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<link name="base_footprint"/>
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<joint name="base_footprint_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 -0.178"/>
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<parent link="base_link"/>
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<child link="base_footprint"/>
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</joint>
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<link name="inertial_link">
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<inertial>
|
||||||
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<mass value="18"/>
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
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</inertial>
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</link>
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<joint name="inertial_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="inertial_link"/>
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</joint>
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<link name="front_right_wheel_link">
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<inertial>
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<mass value="1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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|
</inertial>
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<visual>
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||||||
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<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
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<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
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<geometry>
|
||||||
|
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
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</geometry>
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</visual>
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<collision>
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||||||
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
|
||||||
|
<cylinder length="0.0852" radius="0.0875"/>
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</geometry>
|
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</collision>
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</link>
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<joint name="front_right_wheel" type="continuous">
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<parent link="base_link"/>
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||||||
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<child link="front_right_wheel_link"/>
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||||||
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<origin rpy="3.14 0 0" xyz="0.226 -0.245 -0.0905"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="front_left_wheel_link">
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<inertial>
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<mass value="1"/>
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||||||
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<origin xyz="0 0 0"/>
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||||||
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||||
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</inertial>
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<visual>
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||||||
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<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
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<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
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||||||
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<geometry>
|
||||||
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<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
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</geometry>
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</visual>
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||||||
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<collision>
|
||||||
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
|
||||||
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<cylinder length="0.0852" radius="0.0875"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.226 0.245 -0.0905"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_left_wheel_link">
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<inertial>
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||||||
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<mass value="1"/>
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<origin xyz="0 0 0"/>
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||||||
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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||||||
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<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
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||||||
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<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
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||||||
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<geometry>
|
||||||
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<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
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||||||
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</geometry>
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||||||
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</visual>
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||||||
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<collision>
|
||||||
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
|
||||||
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<cylinder length="0.0852" radius="0.0875"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.226 0.245 -0.0905"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_right_wheel_link">
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<inertial>
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<mass value="1"/>
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||||||
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<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
|
||||||
|
<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.0852" radius="0.0875"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
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<joint name="rear_right_wheel" type="continuous">
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="rear_right_wheel_link"/>
|
||||||
|
<origin rpy="3.14 0 0" xyz="-0.226 -0.245 -0.0905"/>
|
||||||
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<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
80
scout_description/urdf/scout_mini.xacro
Normal file
80
scout_description/urdf/scout_mini.xacro
Normal file
@@ -0,0 +1,80 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot name="scout_mini"
|
||||||
|
xmlns:xacro="http://ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<xacro:arg name="robot_namespace" default="/" />
|
||||||
|
|
||||||
|
<xacro:include filename="$(find scout_description)/urdf/scout_mini_wheel.xacro" />
|
||||||
|
|
||||||
|
<!-- Variables -->
|
||||||
|
<xacro:property name="M_PI" value="3.14159"/>
|
||||||
|
|
||||||
|
<!-- Vehicle Geometries -->
|
||||||
|
<xacro:property name="base_x_size" value="0.595000" />
|
||||||
|
<!-- <xacro:property name="base_y_size" value="0.335000" /> -->
|
||||||
|
<xacro:property name="base_y_size" value="0.395000" />
|
||||||
|
<xacro:property name="base_z_size" value="0.130000" />
|
||||||
|
|
||||||
|
<xacro:property name="wheelbase" value="0.452" />
|
||||||
|
<xacro:property name="track" value="0.49" />
|
||||||
|
<xacro:property name="wheel_vertical_offset" value="-0.0905" />
|
||||||
|
|
||||||
|
<xacro:property name="wheel_length" value="0.8520e-01" />
|
||||||
|
<xacro:property name="wheel_radius" value="0.8750e-01" />
|
||||||
|
|
||||||
|
<!-- Base link -->
|
||||||
|
<link name="base_link">
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://scout_description/meshes/mini_base_link.dae" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0.008" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<joint name="base_footprint_joint" type="fixed">
|
||||||
|
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="base_footprint" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="inertial_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="18" />
|
||||||
|
<origin xyz="0.0 0.0 0.0" />
|
||||||
|
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="inertial_joint" type="fixed">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="inertial_link" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Scout wheel macros -->
|
||||||
|
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
|
||||||
|
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
|
||||||
|
<xacro:scout_mini_wheel wheel_prefix="front_right">
|
||||||
|
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||||
|
</xacro:scout_mini_wheel>
|
||||||
|
<xacro:scout_mini_wheel wheel_prefix="front_left">
|
||||||
|
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||||
|
</xacro:scout_mini_wheel>
|
||||||
|
<xacro:scout_mini_wheel wheel_prefix="rear_left">
|
||||||
|
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||||
|
</xacro:scout_mini_wheel>
|
||||||
|
<xacro:scout_mini_wheel wheel_prefix="rear_right">
|
||||||
|
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||||
|
</xacro:scout_mini_wheel>
|
||||||
|
|
||||||
|
</robot>
|
||||||
60
scout_description/urdf/scout_mini_wheel.xacro
Normal file
60
scout_description/urdf/scout_mini_wheel.xacro
Normal file
@@ -0,0 +1,60 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<!--
|
||||||
|
Software License Agreement (BSD)
|
||||||
|
|
||||||
|
\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
|
||||||
|
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
|
||||||
|
Ruixiang Du <ruixiang.du@westonrobot.com>
|
||||||
|
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
|
||||||
|
\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
|
||||||
|
|
||||||
|
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
|
||||||
|
the following conditions are met:
|
||||||
|
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
|
||||||
|
following disclaimer.
|
||||||
|
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
|
||||||
|
following disclaimer in the documentation and/or other materials provided with the distribution.
|
||||||
|
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
|
||||||
|
products derived from this software without specific prior written permission.
|
||||||
|
|
||||||
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
|
||||||
|
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||||
|
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
|
||||||
|
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
|
||||||
|
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||||
|
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||||
|
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
-->
|
||||||
|
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_mini_wheel">
|
||||||
|
|
||||||
|
<xacro:macro name="scout_mini_wheel" params="wheel_prefix *joint_pose">
|
||||||
|
<link name="${wheel_prefix}_wheel_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1" />
|
||||||
|
<origin xyz="0 0 0" />
|
||||||
|
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
|
||||||
|
<origin xyz="${-0.452/2 + 0.005} ${-0.49/2 + 0.02} 0.0925" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://scout_description/meshes/mini_wheel.dae" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="${wheel_prefix}_wheel" type="continuous">
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="${wheel_prefix}_wheel_link"/>
|
||||||
|
<xacro:insert_block name="joint_pose"/>
|
||||||
|
<axis xyz="0 -1 0" rpy="0 0 0" />
|
||||||
|
</joint>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
</robot>
|
||||||
Reference in New Issue
Block a user