merged with scout_sim

scout_description/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(scout_description)
+
+find_package(catkin REQUIRED COMPONENTS roslaunch)
+
+catkin_package()
+
+# roslaunch_add_file_check(launch)
+
+install(
+  DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

scout_description/launch/display_model.launch

@@ -0,0 +1,10 @@
+<launch>
+        <arg name="model" />
+
+        <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
+        <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
+        <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
+</launch>

scout_description/launch/scout_v2_sensors.launch

@@ -0,0 +1,10 @@
+
+<launch>
+    <arg name="robot_namespace" default="/"/>
+    <arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
+        robot_namespace:=$(arg robot_namespace) 
+        onboard_sensors:='true'
+        urdf_extras:=$(arg urdf_extras)" />
+</launch>

scout_description/launch/scout_v2_stock.launch

@@ -0,0 +1,10 @@
+
+<launch>
+    <arg name="robot_namespace" default="/"/>
+    <arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
+        robot_namespace:=$(arg robot_namespace) 
+        onboard_sensors:='false'
+        urdf_extras:=$(arg urdf_extras)" />
+</launch>

scout_description/meshes/base_link_full.dae

@@ -0,0 +1,15 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor />
+    <created>2020-03-27T18:56:12.965296</created>
+    <modified>2020-03-27T18:56:12.965305</modified>
+    <unit name="meter" meter="1.0" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_visual_scenes>
+    <visual_scene id="myscene" />
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene" />
+  </scene>
+</COLLADA>

scout_description/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package>
+  <name>scout_description</name>
+  <version>0.4.2</version>
+  <description>AgileX Scout Husky URDF description</description>
+
+  <author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
+  <author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
+  <author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
+  <author email="paul@bovbel.com">Paul Bovbel</author>
+  <author email="dash@clearpathrobotics.com">Devon Ash</author>
+
+  <maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
+  <maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
+
+  <url type="website">http://ros.org/wiki/scout_description</url>
+  <url type="bugtracker">https://github.com/husky/husky/issues</url>
+  <url type="repository">https://github.com/husky/husky</url>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>lms1xx</run_depend>
+
+  <export>
+  </export>
+</package>

scout_description/rviz/model_display.rviz

@@ -0,0 +1,209 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 732
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inertial_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        chassis_link:
+          Value: true
+        front_left_wheel_link:
+          Value: true
+        front_right_wheel_link:
+          Value: true
+        inertial_link:
+          Value: true
+        rear_left_wheel_link:
+          Value: true
+        rear_right_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          chassis_link:
+            front_left_wheel_link:
+              {}
+            front_right_wheel_link:
+              {}
+            rear_left_wheel_link:
+              {}
+            rear_right_wheel_link:
+              {}
+          inertial_link:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.9432930946350098
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.027046792209148407
+        Y: -0.03490818291902542
+        Z: -0.09952529519796371
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5447957515716553
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.27542781829834
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1029
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1869
+  X: 632
+  Y: 291

scout_description/rviz/navigation.rviz

@@ -0,0 +1,209 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 732
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        chassis_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inertial_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        rear_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        chassis_link:
+          Value: true
+        front_left_wheel_link:
+          Value: true
+        front_right_wheel_link:
+          Value: true
+        inertial_link:
+          Value: true
+        rear_left_wheel_link:
+          Value: true
+        rear_right_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          chassis_link:
+            front_left_wheel_link:
+              {}
+            front_right_wheel_link:
+              {}
+            rear_left_wheel_link:
+              {}
+            rear_right_wheel_link:
+              {}
+          inertial_link:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: odom
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.9432930946350098
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.027046792209148407
+        Y: -0.03490818291902542
+        Z: -0.09952529519796371
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5447957515716553
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.27542781829834
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1029
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1869
+  X: 632
+  Y: 291

scout_description/urdf/empty.urdf

@@ -0,0 +1,6 @@
+<robot>
+  <!-- This file is a placeholder which is included by default from
+       husky.urdf.xacro. If a robot is being customized and requires
+       additional URDF, set the HUSKY_URDF_EXTRAS environment variable
+       to the full path of the file you would like included. -->
+</robot>

scout_description/urdf/onboard_sensors.urdf

@@ -0,0 +1,31 @@
+<robot>
+    <joint name="hokuyo_joint" type="fixed">
+        <origin xyz="0.26 0 0.3" rpy="0 0 0"/>
+        <parent link="base_link"/>
+        <axis xyz="0 1 0" />
+        <child link="hokuyo_link"/>
+    </joint>
+
+    <!-- Hokuyo Laser -->
+    <link name="hokuyo_link">
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <box size="0.1 0.1 0.1"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://scout_description/meshes/hokuyo.dae"/>
+            </geometry>
+        </visual>
+
+        <inertial>
+            <mass value="1e-5" />
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
+        </inertial>
+    </link>
+</robot>

scout_description/urdf/scout_v2.gazebo

@@ -0,0 +1,111 @@
+<?xml version="1.0"?>
+
+<!-- 
+Reference:
+    [1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
+    [2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
+    [3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
+    [4] https://www.youtube.com/watch?v=fuRAv6PDwdw 
+-->
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
+
+    <!-- Additional definitions for simulation -->
+    <!-- <gazebo reference="base_link">
+        <material>Gazebo/Grey</material>
+    </gazebo> -->
+
+    <!-- Actuator configurations -->
+    <xacro:scout_wheel_transmission wheel_prefix="front_right" />
+    <xacro:scout_wheel_transmission wheel_prefix="front_left" />
+    <xacro:scout_wheel_transmission wheel_prefix="rear_left" />
+    <xacro:scout_wheel_transmission wheel_prefix="rear_right" />
+
+    <!-- Controller configurations -->
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>$(arg robot_namespace)</robotNamespace>
+        </plugin>
+    </gazebo>
+
+    <!-- kp spring constant, kd damping constant -->
+    <gazebo>
+        <mu1 value="1.0"/>
+        <mu2 value="1.0"/>
+        <kp value="10000000.0" />
+        <kd value="1.0" />
+        <fdir1 value="1 0 0"/>
+        <minDepth value="0.001" />
+        <maxContacts value="64"/>
+    </gazebo>
+
+    <!-- hokuyo -->
+    <gazebo reference="hokuyo_link">
+        <sensor type="ray" name="head_hokuyo_sensor">
+            <pose>0 0 0 0 0 0</pose>
+            <visualize>false</visualize>
+            <update_rate>40</update_rate>
+            <ray>
+                <scan>
+                    <horizontal>
+                        <samples>720</samples>
+                        <resolution>1</resolution>
+                        <min_angle>-1.570796</min_angle>
+                        <max_angle>1.570796</max_angle>
+                    </horizontal>
+                </scan>
+                <range>
+                    <min>0.10</min>
+                    <max>30.0</max>
+                    <resolution>0.01</resolution>
+                </range>
+                <noise>
+                    <type>gaussian</type>
+                    <!-- Noise parameters based on published spec for Hokuyo laser
+               achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
+               stddev of 0.01m will put 99.7% of samples within 0.03m of the true
+               reading. -->
+                    <mean>0.0</mean>
+                    <stddev>0.01</stddev>
+                </noise>
+            </ray>
+            <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+                <topicName>/scan</topicName>
+                <frameName>hokuyo_link</frameName>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+    <!-- <gazebo>
+        <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
+            <updateRate>100.0</updateRate>
+            <robotNamespace></robotNamespace>
+            <leftFrontJoint>front_left_wheel</leftFrontJoint>
+            <rightFrontJoint>front_right_wheel</rightFrontJoint>
+            <leftRearJoint>rear_left_wheel</leftRearJoint>
+            <rightRearJoint>rear_right_wheel</rightRearJoint>
+            <wheelSeparation>4</wheelSeparation>
+            <wheelDiameter>0.32918</wheelDiameter>
+            <robotBaseFrame>base_link</robotBaseFrame>
+            <torque>1000</torque>
+            <commandTopic>cmd_vel</commandTopic>
+            <broadcastTF>true</broadcastTF>
+            <odometryTopic>odom</odometryTopic>
+            <odometryFrame>odom</odometryFrame>
+            <covariance_x>0.000100</covariance_x>
+            <covariance_y>0.000100</covariance_y>
+            <covariance_yaw>0.010000</covariance_yaw>
+        </plugin>
+    </gazebo> -->
+
+    <!-- <gazebo>
+        <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
+            <commandTopic>cmd_vel</commandTopic>
+            <odometryTopic>odom</odometryTopic>
+            <odometryFrame>odom</odometryFrame>
+            <odometryRate>20.0</odometryRate>
+            <robotBaseFrame>base_footprint</robotBaseFrame>
+        </plugin>
+    </gazebo> -->
+</robot>

scout_description/urdf/scout_v2.proto

@@ -0,0 +1,6 @@
+#VRML_SIM R2019a utf8
+# license: Apache License 2.0
+# license url: http://www.apache.org/licenses/LICENSE-2.0
+# This is a proto file for Webots for the ScoutV2
+# Extracted from: ./scout_v2.urdf
+

scout_description/urdf/scout_v2.urdf

@@ -0,0 +1,137 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="scout_v2">
+  <!-- Base link -->
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.008"/>
+      <geometry>
+        <box size="0.925 0.38 0.21"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.035"/>
+      <geometry>
+        <box size="0.154166666667 0.627 0.07"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="40"/>
+      <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>
+  <link name="front_right_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_right_wheel_link"/>
+    <origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="front_left_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="front_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="front_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="rear_left_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rear_left_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_left_wheel_link"/>
+    <origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <link name="rear_right_wheel_link">
+    <inertial>
+      <mass value="3"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.570795 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.11653" radius="0.16459"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="rear_right_wheel" type="continuous">
+    <parent link="base_link"/>
+    <child link="rear_right_wheel_link"/>
+    <origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
+    <axis rpy="0 0 0" xyz="0 -1 0"/>
+  </joint>
+  <!-- Additional definitions -->
+  <!-- <xacro:include filename="$(arg urdf_extras)" /> -->
+  <!-- Gazebo definitions  -->
+  <!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
+</robot>

scout_description/urdf/scout_v2.xacro

@@ -0,0 +1,115 @@
+<?xml version="1.0"?>
+
+<robot name="scout_v2" 
+    xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="robot_namespace" default="/" />
+    <xacro:arg name="urdf_extras" default="empty.urdf" />
+    <xacro:arg name="onboard_sensors" default="true" />
+
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
+
+    <!-- Variables -->
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Vehicle Geometries -->
+    <xacro:property name="base_x_size" value="0.9250000" />
+    <xacro:property name="base_y_size" value="0.380000" />
+    <xacro:property name="base_z_size" value="0.210000" />
+
+    <xacro:property name="wheelbase" value="0.498" />
+    <xacro:property name="track" value="0.58306" />
+    <xacro:property name="wheel_vertical_offset" value="-0.0702" />
+
+    <xacro:property name="wheel_length" value="1.1653e-01" />
+    <xacro:property name="wheel_radius" value="1.6459e-01" />
+
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_description/meshes/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>
+        <collision>
+            <origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
+            <geometry>
+                <box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <!-- <joint name="chassis_link_joint" type="fixed">
+        <origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="chassis_link" />
+    </joint> -->
+
+    <link name="base_footprint"/>
+
+    <joint name="base_footprint_joint" type="fixed">
+        <origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="base_footprint" />
+    </joint>
+
+    <link name="inertial_link">
+        <inertial>
+            <mass value="40" />
+            <!-- <mass value="50" /> -->
+            <!-- <origin xyz="-0.00065 -0.085 0.062" />
+            <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
+            <origin xyz="0.0 0.0 0.0" />
+            <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <!-- For testing, hang the robot up in the air -->
+    <!-- <link name="world" />
+    <joint name="world_to_base_link=" type="fixed">
+        <origin xyz="0 0 0.5" rpy="0 0 0" />
+        <parent link="world"/>
+        <child link="base_link"/>
+    </joint> -->
+
+    <!-- Scout wheel macros -->
+    <!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
+    <!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
+    <xacro:scout_wheel_type1 wheel_prefix="front_right">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="front_left">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type2>
+    <xacro:scout_wheel_type1 wheel_prefix="rear_left">
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="rear_right">
+        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type2>
+
+    <!-- Onboard sensors -->
+    <xacro:if value="$(arg onboard_sensors)">
+        <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
+    </xacro:if>
+
+    <!-- Additional definitions -->
+    <xacro:include filename="$(arg urdf_extras)" />
+
+    <!-- Gazebo definitions  -->
+    <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
+</robot>

scout_description/urdf/scout_v2_webots.xacro

@@ -0,0 +1,83 @@
+<?xml version="1.0"?>
+
+<robot name="scout_v2" 
+    xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="robot_namespace" default="/" />
+    <xacro:arg name="urdf_extras" default="empty.urdf" />
+    <xacro:arg name="onboard_sensors" default="false" />
+
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
+
+    <!-- Variables -->
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Vehicle Geometries -->
+    <xacro:property name="base_x_size" value="0.9250000" />
+    <xacro:property name="base_y_size" value="0.380000" />
+    <xacro:property name="base_z_size" value="0.210000" />
+
+    <xacro:property name="wheelbase" value="0.498" />
+    <xacro:property name="track" value="0.58306" />
+    <xacro:property name="wheel_vertical_offset" value="-0.0702" />
+
+    <xacro:property name="wheel_length" value="1.1653e-01" />
+    <xacro:property name="wheel_radius" value="1.6459e-01" />
+
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_description/meshes/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>
+        <collision>
+            <origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
+            <geometry>
+                <box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="40" />
+            <origin xyz="0.0 0.0 0.0" />
+            <inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
+        </inertial>
+    </link>
+
+    <!-- Scout wheel macros -->
+    <!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
+    <!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
+    <xacro:scout_wheel_type1 wheel_prefix="front_right">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="front_left">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type2>
+    <xacro:scout_wheel_type1 wheel_prefix="rear_left">
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel_type1>
+    <xacro:scout_wheel_type2 wheel_prefix="rear_right">
+        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel_type2>
+
+    <!-- Onboard sensors -->
+    <xacro:if value="$(arg onboard_sensors)">
+        <!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
+        <xacro:sensor_frame /> -->
+        <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
+    </xacro:if>
+
+    <!-- Additional definitions -->
+    <!-- <xacro:include filename="$(arg urdf_extras)" /> -->
+
+    <!-- Gazebo definitions  -->
+    <!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
+</robot>

scout_description/urdf/scout_wheel.gazebo

@@ -0,0 +1,42 @@
+<?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_wheel">
+
+    <xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
+        <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
+            <type>transmission_interface/SimpleTransmission</type>
+            <actuator name="${wheel_prefix}_wheel_motor">
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+            <joint name="${wheel_prefix}_wheel">
+                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+            </joint>
+        </transmission>
+    </xacro:macro>
+
+</robot>

scout_description/urdf/scout_wheel_type1.xacro

@@ -0,0 +1,59 @@
+<?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_wheel">
+
+    <xacro:macro name="scout_wheel_type1" params="wheel_prefix *joint_pose">
+        <link name="${wheel_prefix}_wheel_link">
+            <inertial>
+                <mass value="3" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://scout_description/meshes/wheel_type1.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="${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>

scout_description/urdf/scout_wheel_type2.xacro

@@ -0,0 +1,59 @@
+<?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_wheel">
+
+    <xacro:macro name="scout_wheel_type2" params="wheel_prefix *joint_pose">
+        <link name="${wheel_prefix}_wheel_link">
+            <inertial>
+                <mass value="3" />
+                <origin xyz="0 0 0" />
+                <inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://scout_description/meshes/wheel_type2.dae" />
+                </geometry>
+            </visual>
+            <collision>
+                <origin xyz="0 0 0" rpy="${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>