mirrors/scout_ros
1
0
Fork 0
mirror of https://github.com/westonrobot/scout_ros.git synced 2026-01-12 11:20:02 +08:00
Code Issues Packages Projects Releases Wiki Activity

saved work, odom not right, to be fixed

Browse Source
This commit is contained in:
Ruixiang Du
2020-04-13 14:11:23 +08:00
parent cf69732e50
commit a0fae1b0f1
71 changed files with 8083 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
scout_description/urdf/scout_v2.xacro
View File

@@ -5,6 +5,7 @@
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
<xacro:arg name="onboard_sensors" default="true" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
@@ -52,6 +53,14 @@
<child link="chassis_link" />
</joint> -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<link name="inertial_link">
<inertial>
<mass value="40" />
@@ -93,6 +102,13 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- Onboard sensors -->
<xacro:if value="$(arg onboard_sensors)">
<!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
<xacro:sensor_frame /> -->
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
</xacro:if>
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />