mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
generated proto
This commit is contained in:
Ruixiang Du
13
NOTE.md
13
NOTE.md
@@ -8,8 +8,19 @@ Convert xacro to urdf
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$ rosrun xacro xacro -o model.urdf model.urdf.xacro
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```
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Generate proto for Webots
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```
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$ rosrun xacro xacro -o scout_description/urdf/scout_v2.urdf scout_description/urdf/scout_v2_webots.xacro
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$ python -m urdf2webots.importer --input=./scout_description/urdf/scout_v2.urdf --output=scout_description/proto/ScoutV2.proto
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```
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Convert urdf to sdf
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```
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$ gz sdf -p scout_v2.urdf > scout_v2.sdf
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```
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```
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Reference:
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[1] https://github.com/cyberbotics/urdf2webots
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480
scout_description/proto/ScoutV2.proto
Normal file
480
scout_description/proto/ScoutV2.proto
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File diff suppressed because one or more lines are too long
6
scout_description/urdf/scout_v2.proto
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6
scout_description/urdf/scout_v2.proto
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@@ -0,0 +1,6 @@
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#VRML_SIM R2019a utf8
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# license: Apache License 2.0
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# license url: http://www.apache.org/licenses/LICENSE-2.0
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# This is a proto file for Webots for the ScoutV2
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# Extracted from: ./scout_v2.urdf
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137
scout_description/urdf/scout_v2.urdf
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137
scout_description/urdf/scout_v2.urdf
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@@ -0,0 +1,137 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="scout_v2">
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<!-- Base link -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/base_link.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.008"/>
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<geometry>
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<box size="0.925 0.38 0.21"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.035"/>
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<geometry>
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<box size="0.154166666667 0.627 0.07"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="40"/>
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
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</inertial>
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</link>
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<link name="front_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="front_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<!-- Additional definitions -->
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<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
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<!-- Gazebo definitions -->
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<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
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</robot>
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@@ -104,8 +104,6 @@
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<!-- Onboard sensors -->
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<xacro:if value="$(arg onboard_sensors)">
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<!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
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<xacro:sensor_frame /> -->
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<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
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</xacro:if>
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83
scout_description/urdf/scout_v2_webots.xacro
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83
scout_description/urdf/scout_v2_webots.xacro
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@@ -0,0 +1,83 @@
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<?xml version="1.0"?>
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<robot name="scout_v2"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="robot_namespace" default="/" />
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<xacro:arg name="urdf_extras" default="empty.urdf" />
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<xacro:arg name="onboard_sensors" default="false" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
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<!-- Variables -->
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<xacro:property name="M_PI" value="3.14159"/>
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<!-- Vehicle Geometries -->
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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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<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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<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 -->
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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/base_link.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} ${base_z_size/3}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="40" />
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<origin xyz="0.0 0.0 0.0" />
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
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</inertial>
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</link>
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<!-- Scout wheel macros -->
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<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
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<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type2>
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<xacro:scout_wheel_type1 wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="rear_right">
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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<!-- Onboard sensors -->
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<xacro:if value="$(arg onboard_sensors)">
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<!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
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<xacro:sensor_frame /> -->
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<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
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</xacro:if>
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<!-- Additional definitions -->
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<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
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<!-- Gazebo definitions -->
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<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
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</robot>
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