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updated scout v2 urdf

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This commit is contained in:
Ruixiang Du
2020-03-24 22:48:57 +08:00
parent f249b5147b
commit 5279161dbf
9 changed files with 1167 additions and 546 deletions
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70
scout_description/urdf/scout_v2.xacro
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@@ -28,7 +28,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/body_assembly.dae" />
<mesh filename="package://scout_description/meshes/base_link.dae" />
</geometry>
</visual>
<collision>
@@ -69,13 +69,15 @@
<child link="inertial_link" />
</joint>
<!-- scout wheel macros -->
<xacro:scout_wheel_type2 wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel_type2>
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
<xacro:scout_wheel_type1 wheel_prefix="front_right">
<origin xyz="${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} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel_type1>
@@ -83,54 +85,18 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<!-- <link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<origin xyz="$(optenv scout_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv scout_IMU_RPY 0 -1.5708 3.1416)" />
<parent link="base_link" />
<child link="imu_link" />
</joint>
<gazebo reference="imu_link">
</gazebo> -->
<!-- <xacro:scout_decorate /> -->
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 1.0" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
</plugin>
</gazebo>
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<gazebo>
<plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
<updateRate>40</updateRate>
<bodyName>base_link</bodyName>
<frameId>base_link</frameId>
<topicName>navsat/fix</topicName>
<velocityTopicName>navsat/vel</velocityTopicName>
<referenceLatitude>49.9</referenceLatitude>
<referenceLongitude>8.9</referenceLongitude>
<referenceHeading>0</referenceHeading>
<referenceAltitude>0</referenceAltitude>
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo> -->
<!-- Optional custom includes. -->
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />
<!-- Gazebo definitions -->
<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
</robot>