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
255
scout_robot/urdf/scout.xacro
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255
scout_robot/urdf/scout.xacro
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from scout.urdf | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<!--robot name="scout"-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
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xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
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name="scout">
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<xacro:macro name="default_inertial" params="mass">
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<inertial>
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<mass value="${mass}" />
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<inertia ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0" />
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</inertial>
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</xacro:macro>
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<link name="base_footprint">
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<visual>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</visual>
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<xacro:default_inertial mass="0.0001"/>
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</link>
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<xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
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<gazebo reference="base_footprint">
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<material>Gazebo/Green</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<joint name="base_footprint_joint" type="fixed">
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<origin xyz="0 0 0" />
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<parent link="base_footprint" />
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<child link="base_link" />
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</joint>
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<!-- the model -->
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
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<mass value="50.594"/>
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<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/base_link.STL"/>
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</geometry>
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<!--material name="">
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<color rgba="1 1 1 1"/>
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</material-->
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="front left_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
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<mass value="6.2792"/>
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<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1"/>
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</material>
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<!--material name="black">
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<color rgba="0 0 0 1"/>
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</material-->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="front left_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
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<parent link="base_link"/>
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<child link="front left_Link"/>
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<axis xyz="0 1 0"/>
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<limit effort="0" lower="-180" upper="180" velocity="0"/>
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</joint>
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<link name="back left_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
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<mass value="6.2792"/>
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<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1"/>
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</material>
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<!--material name="black">
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<color rgba="0 0 0 1"/>
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</material-->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="back left_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
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<parent link="base_link"/>
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<child link="back left_Link"/>
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<axis xyz="0 -1 0"/>
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<limit effort="0" lower="-180" upper="180" velocity="0"/>
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</joint>
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<link name="front right_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
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<mass value="6.2792"/>
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<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1"/>
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</material>
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<!--material name="black">
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<color rgba="0 0 0 1"/>
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</material-->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="front right_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
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<parent link="base_link"/>
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<child link="front right_Link"/>
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<axis xyz="0.0067885 0.99998 0"/>
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<limit effort="0" lower="-180" upper="180" velocity="0"/>
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</joint>
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<link name="back right_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
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<mass value="6.2792"/>
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<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.79216 0.81961 0.93333 1"/>
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</material>
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<!--material name="black">
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<color rgba="0 0 0 1"/>
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</material-->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="back right_joint" type="revolute">
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<origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
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<parent link="base_link"/>
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<child link="back right_Link"/>
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<axis xyz="0.0067885 -0.99998 0"/>
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<limit effort="0" lower="-180" upper="180" velocity="0"/>
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</joint>
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<!-- Hokuyo joint -->
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<joint name="hokuyo_joint" type="fixed">
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<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
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<parent link="base_link"/>
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<axis xyz="0 1 0" />
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<child link="hokuyo_link"/>
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</joint>
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<!-- Hokuyo Laser -->
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<link name="hokuyo_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.1 0.1 0.1"/>
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</geometry>
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</collision>
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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_robot/meshes/hokuyo.dae"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1e-5" />
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
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</inertial>
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</link>
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<!-- Drive controller -->
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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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