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initial release of webots simulation for scout

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Ruixiang Du
2020-01-31 14:28:38 +08:00
parent 16542b008f
commit 7d4993b1e7
13 changed files with 1313 additions and 1 deletions
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72
scout_webots_sim/urdf/agilex_scout_webots.urdf Normal file
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<!--
Copyright 2016 The Cartographer Authors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Reference:
[1] https://github.com/IntelRealSense/librealsense/blob/master/doc/d435i.md
-->
<robot name="agilex_scout_rs16">
<material name="orange">
<color rgba="1.0 0.5 0.2 1" />
</material>
<material name="gray">
<color rgba="0.2 0.2 0.2 1" />
</material>
<!-- Robosense16 -->
<link name="rslidar">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.07" radius="0.05" />
</geometry>
<material name="orange" />
</visual>
</link>
<!-- Realsense D435i -->
<link name="imu_link">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<box size="0.06 0.04 0.02" />
</geometry>
<material name="orange" />
</visual>
</link>
<link name="base_link" />
<joint name="rslidar_joint" type="fixed">
<parent link="base_link" />
<child link="rslidar" />
<origin xyz="-0.11 0.0 0.71" rpy="0 0 0" />
</joint>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0" rpy="0 0 0" />
</joint>
<!--
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="camera_imu_optical_frame" />
<origin xyz="0 0 0.0" rpy="-1.57 0 -1.57" />
</joint>
-->
</robot>