added urdf for scout v2.0

2026-01-12 03:15:01 +08:00 · 2020-03-23 23:51:15 +08:00
parent 28c7aaa533
commit 2d8a95a866
20 changed files with 2241 additions and 0 deletions
--- a/scout_description/CHANGELOG.rst
+++ b/scout_description/CHANGELOG.rst
@@ -0,0 +1,132 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package husky_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.4.2 (2019-12-11)
+------------------
+
+0.4.1 (2019-09-30)
+------------------
+
+0.4.0 (2019-08-01)
+------------------
+
+0.3.4 (2019-08-01)
+------------------
+
+0.3.3 (2019-04-18)
+------------------
+* Fixed bumper extensions, cleaned up collision meshes
+* Contributors: Dave Niewinski
+
+0.3.2 (2019-03-25)
+------------------
+* Added some additional frames on the top plates and an environment variable for diabling the user rails
+* Added env var to allow a 7cm forward bumper extension (`#92 <https://github.com/husky/husky/issues/92>`_)
+  * Added env var to allow for extendable front bumper
+  * Fix weird spacing
+  * Uploaded bumper extension meshes
+  * Allowed for different lengths of bumper extensions
+* Contributors: Dave Niewinski, Guy Stoppi
+
+0.3.1 (2018-08-02)
+------------------
+* Removed unnecessary dae objects and duplicate vertices
+* Contributors: Dave Niewinski
+
+0.3.0 (2018-04-11)
+------------------
+* Updated all package versions to 0.2.6.
+* Added a large top plate (used for waterproofing upgrade and UR5 upgrade) and an environment variable for controlling it HUSKY_LARGE_TOP_PLATE
+* changed Husky wheel radius, a Husky outdoor tire is 13 inchs (0.3302m)
+* [husky_description] Updated inertial parameters.
+* [husky_description] Fixed depreciated syntax.
+* Remove defunct email address
+* Updated maintainers.
+* Changes for xacro updates in kinetic.
+* Add interface definitions
+* Purge more UR; Implement urdf_extras
+* Update URDF for multirobot
+* Move packages into monorepo for kinetic; strip out ur packages
+* wheel.urdf.xacro: swap iyy, izz inertias
+  Fixes `#34 <https://github.com/husky/husky/issues/34>`_.
+* Contributors: Dave Niewinski, Martin Cote, Paul Bovbel, Steven Peters, Tony Baltovski
+
+0.2.7 (2015-12-31)
+------------------
+* Fixed indent.
+* Added Sick LMS1XX URDF.
+* Contributors: Tony Baltovski
+
+0.2.6 (2015-07-08)
+------------------
+* Adjust Kinect angle so it doesn't hit top plate
+* Contributors: Paul Bovbel
+
+0.2.5 (2015-04-16)
+------------------
+* Add standard mount for lms1xx
+* Contributors: Paul Bovbel
+
+0.2.4 (2015-04-13)
+------------------
+* Add argument to enable/disable top plate
+* Fix sensor arch name
+* Fix conflict with underlay
+  When using -z check, underlayed instances of husky_gazebo would override overlays.
+* Update top plate model
+* Contributors: Paul Bovbel
+
+0.2.3 (2015-04-08)
+------------------
+* Integrate husky_customization workflow
+* Disable all accessories by default
+* Contributors: Paul Bovbel
+
+0.2.2 (2015-03-23)
+------------------
+* Fix package urls
+* Contributors: Paul Bovbel
+
+0.2.1 (2015-03-23)
+------------------
+* Port stl to dae format, removing material/gazebo colours
+* Make base_footprint a child of base_link
+* Contributors: Paul Bovbel
+
+0.2.0 (2015-03-23)
+------------------
+* Add Kinect, UR5 peripherals
+* Contributors: Paul Bovbel, Devon Ash
+
+0.1.2 (2015-01-30)
+------------------
+* Update maintainers and description
+* Get rid of chassis_link, switch to base_footprint and base_link
+* Switch to NED orientation for UM6 standard package
+* Contributors: Paul Bovbel
+
+0.1.1 (2015-01-14)
+------------------
+* Remove multirobot changes, experiment later
+* Contributors: Paul Bovbel
+
+0.1.0 (2015-01-13)
+------------------
+* Major refactor for indigo release:
+  * base_link is now located on the ground plane, while chassis_link
+  * refactored joint names for consistency with Jackal and Grizzly for ros_control
+  * moved plugins requiring gazebo dependencies to husky_gazebo (imu, gps, lidar, ros_control)
+  * initial prefixing for multirobot
+* Contributors: Alex Bencz, James Servos, Mike Purvis, Paul Bovbel, Prasenjit Mukherjee, y22ma
+
+0.0.2 (2013-09-30)
+------------------
+* Renamed /models folder to /meshes to follow the convention of other gazebo simulation packages.
+* Changed the base.urdf.xacro to use base_footprint as the parent frame. For some reason, the new Gazebo paints all parts the same color as base_link when base_link is the parent.
+
+0.0.1 (2013-09-11)
+------------------
+* Move to model-only launchfile.
+* Catkinize package, add install targets.
+* husky_description moved up to repository root.
--- a/scout_description/CMakeLists.txt
+++ b/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}
+)
--- a/scout_description/launch/display_model.launch
+++ b/scout_description/launch/display_model.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      description.launch
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., 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.
+-->
+
+<launch>
+        <arg name="model" />
+        <arg name="gui" default="False" />
+        <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
+        <param name="use_gui" value="$(arg gui)"/>
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
+</launch>
--- a/scout_description/launch/scout_v2_stock.launch
+++ b/scout_description/launch/scout_v2_stock.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<!--
+Software License Agreement (BSD)
+
+\file      description.launch
+\authors   Paul Bovbel <pbovbel@clearpathrobotics.com>, Devon Ash <dash@clearpathrobotics.com>
+\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that
+the following conditions are met:
+ * Redistributions of source code must retain the above copyright notice, this list of conditions and the
+   following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
+   following disclaimer in the documentation and/or other materials provided with the distribution.
+ * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
+   products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
+RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
+DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+-->
+<launch>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
+
+</launch>
--- a/scout_description/meshes/base_link.dae
+++ b/scout_description/meshes/base_link.dae
--- a/scout_description/meshes/body_assembly.dae
+++ b/scout_description/meshes/body_assembly.dae
--- a/scout_description/meshes/body_blue.dae
+++ b/scout_description/meshes/body_blue.dae
--- a/scout_description/meshes/estop_button.dae
+++ b/scout_description/meshes/estop_button.dae
--- a/scout_description/meshes/estop_protector.dae
+++ b/scout_description/meshes/estop_protector.dae
--- a/scout_description/meshes/parts_metal_black.dae
+++ b/scout_description/meshes/parts_metal_black.dae
--- a/scout_description/meshes/parts_plastic_black.dae
+++ b/scout_description/meshes/parts_plastic_black.dae
--- a/scout_description/meshes/wheel_assembly.dae
+++ b/scout_description/meshes/wheel_assembly.dae
--- a/scout_description/meshes/wheel_hub.dae
+++ b/scout_description/meshes/wheel_hub.dae
--- a/scout_description/meshes/wheel_hub_cap.dae
+++ b/scout_description/meshes/wheel_hub_cap.dae
--- a/scout_description/meshes/wheel_tire.dae
+++ b/scout_description/meshes/wheel_tire.dae
--- a/scout_description/package.xml
+++ b/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>
--- a/scout_description/rviz/model_display.rviz
+++ b/scout_description/rviz/model_display.rviz
@@ -0,0 +1,210 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 1088
+  - 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_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_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_footprint:
+          Value: true
+        base_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:
+          base_footprint:
+            {}
+          front_left_wheel_link:
+            {}
+          front_right_wheel_link:
+            {}
+          inertial_link:
+            {}
+          rear_left_wheel_link:
+            {}
+          rear_right_wheel_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: 1.9643197059631348
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.11843720823526382
+        Y: -0.025971120223402977
+        Z: 0.012434899806976318
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3447958827018738
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.9354026317596436
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1385
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000004cbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004cb000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd0000003efc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000861000004cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 2493
+  X: 67
+  Y: 27
--- a/scout_description/urdf/empty.urdf
+++ b/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>
--- a/scout_description/urdf/scout_v2.xacro
+++ b/scout_description/urdf/scout_v2.xacro
@@ -0,0 +1,137 @@
+<?xml version="1.0"?>
+
+<robot name="scout_v2" 
+    xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="urdf_extras" default="empty.urdf" />
+
+    <!-- Included URDF/XACRO Files -->
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel.xacro" />
+
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Base Size -->
+    <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" />
+
+    <!-- Wheel Mounting Positions -->
+    <xacro:property name="wheelbase" value="0.498" />
+    <xacro:property name="track" value="0.58306" />
+    <xacro:property name="wheel_vertical_offset" value="-0.0702" />
+
+    <!-- Wheel Properties -->
+    <xacro:property name="wheel_length" value="1.1653e-01" />
+    <xacro:property name="wheel_radius" value="1.6459e-01" />
+
+    <!-- Base link is the center of the robot's bottom plate -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://scout_description/meshes/body_assembly.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>
+
+    <!-- Base footprint is on the ground under the robot -->
+    <link name="base_footprint"/>
+
+    <joint name="base_footprint_joint" type="fixed">
+        <origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="base_footprint" />
+    </joint>
+
+    <!-- Interial link stores the robot's inertial information -->
+    <link name="inertial_link">
+        <inertial>
+            <mass value="46.034" />
+            <origin xyz="-0.00065 -0.085 0.062" />
+            <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
+    <!-- Can be modified with environment variables in /etc/ros/setup.bash -->
+    <!-- <link name="imu_link"/>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="$(optenv scout_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv scout_IMU_RPY 0 -1.5708 3.1416)" />
+    <parent link="base_link" />
+    <child link="imu_link" />
+  </joint>
+  <gazebo reference="imu_link">
+  </gazebo> -->
+
+    <!-- scout wheel macros -->
+    <xacro:scout_wheel wheel_prefix="front_left">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel>
+    <xacro:scout_wheel wheel_prefix="front_right">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel>
+    <xacro:scout_wheel wheel_prefix="rear_left">
+        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
+    </xacro:scout_wheel>
+    <xacro:scout_wheel wheel_prefix="rear_right">
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:scout_wheel>
+
+    <!-- <xacro:scout_decorate /> -->
+
+    <!-- <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
+      <updateRate>50.0</updateRate>
+      <bodyName>base_link</bodyName>
+      <topicName>imu/data</topicName>
+      <accelDrift>0.005 0.005 0.005</accelDrift>
+      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
+      <rateDrift>0.005 0.005 0.005 </rateDrift>
+      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
+      <headingDrift>0.005</headingDrift>
+      <headingGaussianNoise>0.005</headingGaussianNoise>
+    </plugin>
+  </gazebo>
+
+  <gazebo>
+    <plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
+      <updateRate>40</updateRate>
+      <bodyName>base_link</bodyName>
+      <frameId>base_link</frameId>
+      <topicName>navsat/fix</topicName>
+      <velocityTopicName>navsat/vel</velocityTopicName>
+      <referenceLatitude>49.9</referenceLatitude>
+      <referenceLongitude>8.9</referenceLongitude>
+      <referenceHeading>0</referenceHeading>
+      <referenceAltitude>0</referenceAltitude>
+      <drift>0.0001 0.0001 0.0001</drift>
+    </plugin>
+  </gazebo> -->
+
+    <!-- Optional custom includes. -->
+    <!-- <xacro:include filename="$(arg urdf_extras)" /> -->
+
+</robot>
--- a/scout_description/urdf/scout_wheel.xacro
+++ b/scout_description/urdf/scout_wheel.xacro
@@ -0,0 +1,77 @@
+<?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" params="wheel_prefix *joint_pose">
+		<link name="${wheel_prefix}_wheel_link">
+			<inertial>
+				<mass value="2.637" />
+				<origin xyz="0 0 0" />
+				<inertia  ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
+			</inertial>
+			<visual>
+				<origin xyz="0 0 0" rpy="0 0 0" />
+				<geometry>
+					<mesh filename="package://scout_description/meshes/wheel_assembly.dae" />
+				</geometry>
+			</visual>
+			<collision>
+				<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
+				<geometry>
+					<cylinder length="${wheel_length}" radius="${wheel_radius}" />
+				</geometry>
+			</collision>
+		</link>
+
+		<!-- <gazebo reference="${wheel_prefix}_wheel_link">
+			<mu1 value="1.0"/>
+			<mu2 value="1.0"/>
+			<kp value="10000000.0" />
+			<kd value="1.0" />
+			<fdir1 value="1 0 0"/>
+		</gazebo> -->
+
+		<joint name="${wheel_prefix}_wheel" type="continuous">
+			<parent link="base_link"/>
+			<child link="${wheel_prefix}_wheel_link"/>
+			<xacro:insert_block name="joint_pose"/>
+			<axis xyz="0 1 0" rpy="0 0 0" />
+		</joint>
+
+		<!-- <transmission name="${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>