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Ruixiang Du
2020-03-29 19:11:27 +08:00
parent dbf04d03d8
commit b8144488f3
6 changed files with 44 additions and 51 deletions
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15
scout_description/meshes/base_link_full.dae Normal file
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@@ -0,0 +1,15 @@
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor />
<created>2020-03-27T18:56:12.965296</created>
<modified>2020-03-27T18:56:12.965305</modified>
<unit name="meter" meter="1.0" />
<up_axis>Z_UP</up_axis>
</asset>
<library_visual_scenes>
<visual_scene id="myscene" />
</library_visual_scenes>
<scene>
<instance_visual_scene url="#myscene" />
</scene>
</COLLADA>

6
scout_description/urdf/scout_v2.xacro
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@@ -29,7 +29,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/base_link.dae" />
<mesh filename="package://scout_description/meshes/base_link_full.dae" />
</geometry>
</visual>
<collision>
@@ -87,12 +87,12 @@
</xacro:scout_wheel_type2>
<!-- For testing, hang the robot up in the air -->
<link name="world" />
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint>
</joint> -->
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />

11
scout_description/urdf/scout_wheel.gazebo
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@@ -29,11 +29,20 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="0.6"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<maxContacts value="64"/>
</gazebo>
<!-- <gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<fdir1 value="1 0 0"/>
</gazebo> -->
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">

1
scout_description/urdf/scout_wheel_type1.xacro
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@@ -55,4 +55,5 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<axis xyz="0 -1 0" rpy="0 0 0" />
</joint>
</xacro:macro>
</robot>