mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
updated scout description, still working on scout gazebo sim control
This commit is contained in:
Ruixiang Du
@@ -1,9 +1,19 @@
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<?xml version="1.0"?>
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<robot>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" >
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
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<!-- Additional definitions for simulation -->
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<!-- <gazebo reference="base_link">
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<material>Gazebo/Grey</material>
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</gazebo> -->
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<!-- Actuator configurations -->
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<xacro:scout_wheel_transmission wheel_prefix="front_right" />
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<xacro:scout_wheel_transmission wheel_prefix="front_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
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<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
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<!-- Controller configurations -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace></robotNamespace>
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@@ -40,5 +50,5 @@
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<odometryRate>20.0</odometryRate>
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<robotBaseFrame>base_footprint</robotBaseFrame>
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</plugin>
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</gazebo> -->
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</gazebo> -->
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</robot>
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@@ -85,14 +85,13 @@
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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</joint>
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<!-- Additional definitions -->
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<xacro:include filename="$(arg urdf_extras)" />
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50
scout_description/urdf/scout_wheel.gazebo
Normal file
50
scout_description/urdf/scout_wheel.gazebo
Normal file
@@ -0,0 +1,50 @@
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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_transmission" params="wheel_prefix">
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<gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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</gazebo> -->
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<transmission name="${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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@@ -54,24 +54,5 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
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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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<!-- Gazebo definitions -->
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<gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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</gazebo>
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<transmission name="${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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@@ -54,25 +54,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
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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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<!-- Gazebo definitions -->
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<gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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</gazebo>
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<transmission name="${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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