mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
added scout description to scout_base launch
This commit is contained in:
Tan Pin Da
94
scout_base/description/scout_v2.xacro
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94
scout_base/description/scout_v2.xacro
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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="onboard_sensors" default="false" />
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<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type1.xacro" />
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<xacro:include filename="$(find scout_base)/description/sub_elements/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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</link>
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<link name="base_footprint"/>
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<joint name="base_footprint_joint" type="fixed">
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<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="base_footprint" />
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</joint>
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<link name="inertial_link">
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<inertial>
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<mass value="40" />
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<origin xyz="0.0 0.0 0.0" />
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
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</inertial>
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</link>
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<joint name="inertial_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="inertial_link" />
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</joint>
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<!-- Scout wheel macros -->
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<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
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<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<origin xyz="${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="$(find scout_description)/urdf/onboard_sensors.urdf" />
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</xacro:if>
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<!-- Gazebo definitions -->
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<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
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</robot>
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59
scout_base/description/sub_elements/scout_wheel_type1.xacro
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59
scout_base/description/sub_elements/scout_wheel_type1.xacro
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@@ -0,0 +1,59 @@
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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_type1" params="wheel_prefix *joint_pose">
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<link name="${wheel_prefix}_wheel_link">
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<inertial>
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<mass value="3" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
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<geometry>
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<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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<joint name="${wheel_prefix}_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="${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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</xacro:macro>
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</robot>
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59
scout_base/description/sub_elements/scout_wheel_type2.xacro
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59
scout_base/description/sub_elements/scout_wheel_type2.xacro
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@@ -0,0 +1,59 @@
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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_type2" params="wheel_prefix *joint_pose">
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<link name="${wheel_prefix}_wheel_link">
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<inertial>
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<mass value="3" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
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<geometry>
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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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<joint name="${wheel_prefix}_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="${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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</xacro:macro>
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</robot>
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@@ -11,6 +11,7 @@
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-->
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-->
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<arg name="port_name" default="can0" />
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<arg name="port_name" default="can0" />
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<arg name="simulated_robot" default="false" />
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<arg name="simulated_robot" default="false" />
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<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />>
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<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
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<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
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<param name="port_name" type="string" value="$(arg port_name)" />
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<param name="port_name" type="string" value="$(arg port_name)" />
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@@ -19,4 +20,7 @@
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<param name="odom_frame" type="string" value="odom" />
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<param name="odom_frame" type="string" value="odom" />
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<param name="base_frame" type="string" value="base_link" />
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<param name="base_frame" type="string" value="base_link" />
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</node>
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</node>
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<param name="robot_description" command="$(find xacro)/xacro $(arg model_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="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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