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scout_description: add meshes and urdf for scout_mini

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Pin Loon Lee
2021-10-21 16:18:57 +08:00
parent 71bd7eab20
commit b53042be5d
7 changed files with 3982 additions and 0 deletions
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144
scout_description/urdf/scout_mini.urdf Normal file
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from scout_mini_v2.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="scout_mini_v2">
<!-- Base link -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/mini_base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.008"/>
<geometry>
<box size="0.595 0.395 0.13"/>
</geometry>
</collision>
</link>
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.178"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<link name="inertial_link">
<inertial>
<mass value="18"/>
<origin xyz="0.0 0.0 0.0"/>
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<link name="front_right_wheel_link">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
<geometry>
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0852" radius="0.0875"/>
</geometry>
</collision>
</link>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="3.14 0 0" xyz="0.226 -0.245 -0.0905"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="front_left_wheel_link">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
<geometry>
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0852" radius="0.0875"/>
</geometry>
</collision>
</link>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.226 0.245 -0.0905"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="rear_left_wheel_link">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
<geometry>
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0852" radius="0.0875"/>
</geometry>
</collision>
</link>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.226 0.245 -0.0905"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="rear_right_wheel_link">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
</inertial>
<visual>
<!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="-0.221 -0.225 0.0925"/>
<geometry>
<mesh filename="package://scout_description/meshes/mini_wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.0852" radius="0.0875"/>
</geometry>
</collision>
</link>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="3.14 0 0" xyz="-0.226 -0.245 -0.0905"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
</robot>