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

9
scout_description/urdf/scout_wheel.gazebo
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@@ -29,6 +29,15 @@ 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"> <xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<gazebo reference="${wheel_prefix}_wheel_link"> <gazebo reference="${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"/> <mu1 value="1.0"/>
<mu2 value="1.0"/> <mu2 value="1.0"/>
<kp value="10000000.0" /> <kp value="10000000.0" />

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" /> <axis xyz="0 -1 0" rpy="0 0 0" />
</joint> </joint>
</xacro:macro> </xacro:macro>
</robot> </robot>

37
scout_gazebo_sim/launch/playpen.launch
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@@ -1,37 +0,0 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky_playpen.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>
</launch>

23
scout_gazebo_sim/launch/husky_playpen.launch → scout_gazebo_sim/launch/scout_playpen.launch
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@@ -2,8 +2,8 @@
<!-- <!--
Software License Agreement (BSD) Software License Agreement (BSD)
\file husky_playpen.launch \file husky_empty_world.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com \authors Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved. \copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that Redistribution and use in source and binary forms, with or without modification, are permitted provided that
@@ -25,14 +25,19 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
--> -->
<launch> <launch>
<arg name="laser_enabled" default="true"/> <arg name="robot_namespace" default="/"/>
<arg name="kinect_enabled" default="false"/> <arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
<include file="$(find husky_gazebo)/launch/playpen.launch" /> <include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<include file="$(find husky_gazebo)/launch/spawn_husky.launch"> <arg name="paused" value="false"/>
<arg name="laser_enabled" value="$(arg laser_enabled)"/> <arg name="use_sim_time" value="true"/>
<arg name="kinect_enabled" value="$(arg kinect_enabled)"/> <arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include> </include>
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
</launch> </launch>