mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
updated scout v2 urdf
This commit is contained in:
Ruixiang Du
@@ -24,7 +24,8 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCL
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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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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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-->
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<launch>
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<launch>
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"></node>
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<!-- <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"></node> -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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</launch>
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</launch>
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File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
274
scout_description/meshes/wheel_type1.dae
Normal file
274
scout_description/meshes/wheel_type1.dae
Normal file
File diff suppressed because one or more lines are too long
274
scout_description/meshes/wheel_type2.dae
Normal file
274
scout_description/meshes/wheel_type2.dae
Normal file
File diff suppressed because one or more lines are too long
45
scout_description/urdf/scout_v2.gazebo
Normal file
45
scout_description/urdf/scout_v2.gazebo
Normal file
@@ -0,0 +1,45 @@
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<?xml version="1.0"?>
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<robot>
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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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<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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</plugin>
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</gazebo>
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<gazebo>
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<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
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<updateRate>100.0</updateRate>
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<robotNamespace></robotNamespace>
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<leftFrontJoint>front_left_wheel</leftFrontJoint>
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<rightFrontJoint>front_right_wheel</rightFrontJoint>
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<leftRearJoint>rear_left_wheel</leftRearJoint>
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<rightRearJoint>rear_right_wheel</rightRearJoint>
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<wheelSeparation>4</wheelSeparation>
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<wheelDiameter>0.32918</wheelDiameter>
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<robotBaseFrame>base_link</robotBaseFrame>
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<torque>1000</torque>
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<!-- <topicName>cmd_vel</topicName> -->
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<commandTopic>cmd_vel</commandTopic>
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<broadcastTF>1</broadcastTF>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<covariance_x>0.000100</covariance_x>
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<covariance_y>0.000100</covariance_y>
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<covariance_yaw>0.010000</covariance_yaw>
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</plugin>
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</gazebo>
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<!-- <gazebo>
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<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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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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</robot>
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@@ -28,7 +28,7 @@
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<visual>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<geometry>
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<mesh filename="package://scout_description/meshes/body_assembly.dae" />
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<mesh filename="package://scout_description/meshes/base_link.dae" />
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</geometry>
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</geometry>
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</visual>
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</visual>
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<collision>
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<collision>
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@@ -69,13 +69,15 @@
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<child link="inertial_link" />
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<child link="inertial_link" />
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</joint>
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</joint>
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<!-- scout wheel macros -->
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<!-- Scout wheel macros -->
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<xacro:scout_wheel_type2 wheel_prefix="front_left">
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<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
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</xacro:scout_wheel_type2>
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type1>
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type2>
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<xacro:scout_wheel_type1 wheel_prefix="rear_left">
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<xacro:scout_wheel_type1 wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type1>
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</xacro:scout_wheel_type1>
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@@ -83,54 +85,18 @@
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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</xacro:scout_wheel_type2>
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<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
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<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
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<!-- <link name="imu_link"/>
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<joint name="imu_joint" type="fixed">
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<origin xyz="$(optenv scout_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv scout_IMU_RPY 0 -1.5708 3.1416)" />
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<parent link="base_link" />
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<child link="imu_link" />
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</joint>
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<gazebo reference="imu_link">
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</gazebo> -->
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<!-- <xacro:scout_decorate /> -->
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 1.0" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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<!-- <gazebo>
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<!-- Additional definitions -->
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<xacro:include filename="$(arg urdf_extras)" />
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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="$(arg urdf_extras)" /> -->
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<!-- Gazebo definitions -->
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<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
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</robot>
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</robot>
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78
scout_description/urdf/scout_wheel_type1.xacro
Normal file
78
scout_description/urdf/scout_wheel_type1.xacro
Normal file
@@ -0,0 +1,78 @@
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<?xml version="1.0"?>
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||||||
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<!--
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||||||
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Software License Agreement (BSD)
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||||||
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||||||
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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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||||||
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|
||||||
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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.
|
||||||
|
-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
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<xacro:macro name="scout_wheel_type1" params="wheel_prefix *joint_pose">
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<link name="${wheel_prefix}_wheel_link">
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<inertial>
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<mass value="2.637" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae" />
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</geometry>
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||||||
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</visual>
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<collision>
|
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
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<geometry>
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||||||
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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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||||||
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<joint name="${wheel_prefix}_wheel" type="continuous">
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||||||
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<parent link="base_link"/>
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<child link="${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>
|
||||||
|
</actuator>
|
||||||
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<joint name="${wheel_prefix}_wheel">
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||||||
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||||
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</joint>
|
||||||
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</transmission> -->
|
||||||
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|
||||||
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<!-- Gazebo definitions -->
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||||||
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<gazebo reference="${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>
|
||||||
|
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
78
scout_description/urdf/scout_wheel_type2.xacro
Normal file
78
scout_description/urdf/scout_wheel_type2.xacro
Normal file
@@ -0,0 +1,78 @@
|
|||||||
|
<?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_type2" params="wheel_prefix *joint_pose">
|
||||||
|
<link name="${wheel_prefix}_wheel_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.637" />
|
||||||
|
<origin xyz="0 0 0" />
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://scout_description/meshes/wheel_type2.dae" />
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<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="${wheel_prefix}_wheel">
|
||||||
|
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
</transmission> -->
|
||||||
|
|
||||||
|
<!-- Gazebo definitions -->
|
||||||
|
<gazebo reference="${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>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
</robot>
|
||||||
Reference in New Issue
Block a user