mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
added urdf for scout v2.0
This commit is contained in:
Ruixiang Du
6
scout_description/urdf/empty.urdf
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6
scout_description/urdf/empty.urdf
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<robot>
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<!-- This file is a placeholder which is included by default from
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husky.urdf.xacro. If a robot is being customized and requires
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additional URDF, set the HUSKY_URDF_EXTRAS environment variable
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to the full path of the file you would like included. -->
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</robot>
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137
scout_description/urdf/scout_v2.xacro
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137
scout_description/urdf/scout_v2.xacro
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<?xml version="1.0"?>
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<robot name="scout_v2"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="urdf_extras" default="empty.urdf" />
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<!-- Included URDF/XACRO Files -->
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.xacro" />
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<xacro:property name="M_PI" value="3.14159"/>
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<!-- Base Size -->
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<xacro:property name="base_x_size" value="0.9250000" />
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<xacro:property name="base_y_size" value="0.380000" />
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<xacro:property name="base_z_size" value="0.210000" />
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<!-- Wheel Mounting Positions -->
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<xacro:property name="wheelbase" value="0.498" />
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<xacro:property name="track" value="0.58306" />
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<xacro:property name="wheel_vertical_offset" value="-0.0702" />
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<!-- Wheel Properties -->
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<xacro:property name="wheel_length" value="1.1653e-01" />
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<xacro:property name="wheel_radius" value="1.6459e-01" />
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<!-- Base link is the center of the robot's bottom plate -->
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/body_assembly.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0.008" rpy="0 0 0" />
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<geometry>
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<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
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<geometry>
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<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
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</geometry>
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</collision>
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</link>
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<!-- Base footprint is on the ground under the robot -->
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<link name="base_footprint"/>
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<joint name="base_footprint_joint" type="fixed">
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<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="base_footprint" />
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</joint>
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<!-- Interial link stores the robot's inertial information -->
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<link name="inertial_link">
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<inertial>
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<mass value="46.034" />
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<origin xyz="-0.00065 -0.085 0.062" />
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
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</inertial>
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</link>
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<joint name="inertial_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="inertial_link" />
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</joint>
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<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
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<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
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<!-- <link name="imu_link"/>
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<joint name="imu_joint" type="fixed">
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<origin xyz="$(optenv scout_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv scout_IMU_RPY 0 -1.5708 3.1416)" />
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<parent link="base_link" />
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<child link="imu_link" />
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</joint>
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<gazebo reference="imu_link">
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</gazebo> -->
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<!-- scout wheel macros -->
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<xacro:scout_wheel wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="rear_right">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel>
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<!-- <xacro:scout_decorate /> -->
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<!-- <gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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</plugin>
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</gazebo>
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<gazebo>
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<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
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<updateRate>50.0</updateRate>
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<bodyName>base_link</bodyName>
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<topicName>imu/data</topicName>
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<accelDrift>0.005 0.005 0.005</accelDrift>
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<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
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<rateDrift>0.005 0.005 0.005 </rateDrift>
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<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
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<headingDrift>0.005</headingDrift>
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<headingGaussianNoise>0.005</headingGaussianNoise>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
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<updateRate>40</updateRate>
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<bodyName>base_link</bodyName>
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<frameId>base_link</frameId>
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<topicName>navsat/fix</topicName>
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<velocityTopicName>navsat/vel</velocityTopicName>
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<referenceLatitude>49.9</referenceLatitude>
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<referenceLongitude>8.9</referenceLongitude>
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<referenceHeading>0</referenceHeading>
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<referenceAltitude>0</referenceAltitude>
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<drift>0.0001 0.0001 0.0001</drift>
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</plugin>
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</gazebo> -->
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<!-- Optional custom includes. -->
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<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
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</robot>
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77
scout_description/urdf/scout_wheel.xacro
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77
scout_description/urdf/scout_wheel.xacro
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@@ -0,0 +1,77 @@
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
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Ruixiang Du <ruixiang.du@westonrobot.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
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<xacro:macro name="scout_wheel" params="wheel_prefix *joint_pose">
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<link name="${wheel_prefix}_wheel_link">
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<inertial>
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<mass value="2.637" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_assembly.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}" />
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</geometry>
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</collision>
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</link>
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<!-- <gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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</gazebo> -->
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<joint name="${wheel_prefix}_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="${wheel_prefix}_wheel_link"/>
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<xacro:insert_block name="joint_pose"/>
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<axis xyz="0 1 0" rpy="0 0 0" />
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</joint>
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<!-- <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="${wheel_prefix}_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="${wheel_prefix}_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission> -->
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</xacro:macro>
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</robot>
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