mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
saved work, odom not right, to be fixed
This commit is contained in:
Ruixiang Du
144
scout_robot/urdf/scout copy.urdf
Normal file
144
scout_robot/urdf/scout copy.urdf
Normal file
@@ -0,0 +1,144 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot name="scout">
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.00040316 0.00018112 0.054777" rpy="0 0 0" />
|
||||
<mass value="50.594" />
|
||||
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="front left_Link">
|
||||
<inertial>
|
||||
<origin xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front left_joint" type="revolute">
|
||||
<origin xyz="0.249 0.29153 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="front left_Link" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="back left_Link">
|
||||
<inertial>
|
||||
<origin xyz="1.087E-07 3.2717E-05 -2.3629E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="back left_joint" type="revolute">
|
||||
<origin xyz="-0.249 0.29153 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="back left_Link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="front right_Link">
|
||||
<inertial>
|
||||
<origin xyz="-3.3128E-07 -3.2716E-05 2.169E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front right_joint" type="revolute">
|
||||
<origin xyz="0.24702 -0.29093 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="front right_Link" />
|
||||
<axis xyz="0.0067885 0.99998 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="back right_Link">
|
||||
<inertial>
|
||||
<origin xyz="-1.135E-07 3.2717E-05 -2.3624E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="back right_joint" type="revolute">
|
||||
<origin xyz="-0.24702 -0.29093 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="back right_Link" />
|
||||
<axis xyz="0.0067885 -0.99998 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
70
scout_robot/urdf/scout.gazebo
Executable file
70
scout_robot/urdf/scout.gazebo
Executable file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<!-- materials -->
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/While</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="front left_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="back left_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="front right_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="back right_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/robot</robotNamespace>
|
||||
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- hokuyo -->
|
||||
<gazebo reference="hokuyo_link">
|
||||
<sensor type="ray" name="head_hokuyo_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>false</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>720</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-1.570796</min_angle>
|
||||
<max_angle>1.570796</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.10</min>
|
||||
<max>30.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise parameters based on published spec for Hokuyo laser
|
||||
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
|
||||
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
|
||||
reading. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>hokuyo_link</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
279
scout_robot/urdf/scout.urdf
Normal file
279
scout_robot/urdf/scout.urdf
Normal file
@@ -0,0 +1,279 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="scout">
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00040316 0.00018112 0.054777"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="50.594" />
|
||||
<inertia
|
||||
ixx="3.1632"
|
||||
ixy="0.0095354"
|
||||
ixz="-0.0052362"
|
||||
iyy="3.4936"
|
||||
iyz="0.00027654"
|
||||
izz="5.9359" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="front left_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048957"
|
||||
ixy="-1.6382E-09"
|
||||
ixz="-8.6738E-09"
|
||||
iyy="0.087434"
|
||||
iyz="6.3603E-10"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="front left_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.249 0.29153 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="front left_Link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="back left_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="1.087E-07 3.2717E-05 -2.3629E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048957"
|
||||
ixy="8.5452E-10"
|
||||
ixz="1.5173E-09"
|
||||
iyy="0.087434"
|
||||
iyz="-2.6266E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="back left_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.249 0.29153 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="back left_Link" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="front right_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-3.3128E-07 -3.2716E-05 2.169E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048958"
|
||||
ixy="0.00026119"
|
||||
ixz="-1.925E-08"
|
||||
iyy="0.087432"
|
||||
iyz="3.2348E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="front right_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.24702 -0.29093 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="front right_Link" />
|
||||
<axis
|
||||
xyz="0.0067885 0.99998 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="back right_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.135E-07 3.2717E-05 -2.3624E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048958"
|
||||
ixy="-0.0002612"
|
||||
ixz="1.5517E-09"
|
||||
iyy="0.087432"
|
||||
iyz="-2.626E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="back right_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.24702 -0.29093 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="back right_Link" />
|
||||
<axis
|
||||
xyz="0.0067885 -0.99998 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
255
scout_robot/urdf/scout.xacro
Normal file
255
scout_robot/urdf/scout.xacro
Normal file
@@ -0,0 +1,255 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from scout.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<!--robot name="scout"-->
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
|
||||
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
name="scout">
|
||||
|
||||
<xacro:macro name="default_inertial" params="mass">
|
||||
<inertial>
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0" />
|
||||
</inertial>
|
||||
</xacro:macro>
|
||||
|
||||
<link name="base_footprint">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</visual>
|
||||
<xacro:default_inertial mass="0.0001"/>
|
||||
</link>
|
||||
|
||||
<xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
|
||||
|
||||
<gazebo reference="base_footprint">
|
||||
<material>Gazebo/Green</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<joint name="base_footprint_joint" type="fixed">
|
||||
<origin xyz="0 0 0" />
|
||||
<parent link="base_footprint" />
|
||||
<child link="base_link" />
|
||||
</joint>
|
||||
|
||||
<!-- the model -->
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
|
||||
<mass value="50.594"/>
|
||||
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<!--material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material-->
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="front left_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="front left_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front left_Link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="back left_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="back left_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back left_Link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="front right_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="front right_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front right_Link"/>
|
||||
<axis xyz="0.0067885 0.99998 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="back right_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="back right_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back right_Link"/>
|
||||
<axis xyz="0.0067885 -0.99998 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<!-- Hokuyo joint -->
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<axis xyz="0 1 0" />
|
||||
<child link="hokuyo_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Hokuyo Laser -->
|
||||
<link name="hokuyo_link">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/hokuyo.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<mass value="1e-5" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Drive controller -->
|
||||
<gazebo>
|
||||
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometryRate>20.0</odometryRate>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
||||
Reference in New Issue
Block a user