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added scout_description back

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Tan Pin Da
2020-09-07 15:57:24 +08:00
parent cfa2b6bafc
commit c711f96501
25 changed files with 2827 additions and 13 deletions
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94
scout_base/description/scout_v2.xacro
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@@ -1,94 +0,0 @@
<?xml version="1.0"?>
<robot name="scout_v2"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="onboard_sensors" default="false" />
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type2.xacro" />
<!-- Variables -->
<xacro:property name="M_PI" value="3.14159"/>
<!-- Vehicle Geometries -->
<xacro:property name="base_x_size" value="0.9250000" />
<xacro:property name="base_y_size" value="0.380000" />
<xacro:property name="base_z_size" value="0.210000" />
<xacro:property name="wheelbase" value="0.498" />
<xacro:property name="track" value="0.58306" />
<xacro:property name="wheel_vertical_offset" value="-0.0702" />
<xacro:property name="wheel_length" value="1.1653e-01" />
<xacro:property name="wheel_radius" value="1.6459e-01" />
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.008" rpy="0 0 0" />
<geometry>
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
</geometry>
</collision>
</link>
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<link name="inertial_link">
<inertial>
<mass value="40" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="inertial_link" />
</joint>
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
<xacro:scout_wheel_type1 wheel_prefix="front_right">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type1>
<xacro:scout_wheel_type2 wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel_type2>
<xacro:scout_wheel_type1 wheel_prefix="rear_left">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel_type1>
<xacro:scout_wheel_type2 wheel_prefix="rear_right">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- Onboard sensors -->
<xacro:if value="$(arg onboard_sensors)">
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
</xacro:if>
<!-- Gazebo definitions -->
<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
</robot>

59
scout_base/description/sub_elements/scout_wheel_type1.xacro
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@@ -1,59 +0,0 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
Ruixiang Du <ruixiang.du@westonrobot.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., 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.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
<xacro:macro name="scout_wheel_type1" params="wheel_prefix *joint_pose">
<link name="${wheel_prefix}_wheel_link">
<inertial>
<mass value="3" />
<origin xyz="0 0 0" />
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
</geometry>
</collision>
</link>
<joint name="${wheel_prefix}_wheel" type="continuous">
<parent link="base_link"/>
<child link="${wheel_prefix}_wheel_link"/>
<xacro:insert_block name="joint_pose"/>
<axis xyz="0 -1 0" rpy="0 0 0" />
</joint>
</xacro:macro>
</robot>

59
scout_base/description/sub_elements/scout_wheel_type2.xacro
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@@ -1,59 +0,0 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
Ruixiang Du <ruixiang.du@westonrobot.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., 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.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
<xacro:macro name="scout_wheel_type2" params="wheel_prefix *joint_pose">
<link name="${wheel_prefix}_wheel_link">
<inertial>
<mass value="3" />
<origin xyz="0 0 0" />
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
</geometry>
</collision>
</link>
<joint name="${wheel_prefix}_wheel" type="continuous">
<parent link="base_link"/>
<child link="${wheel_prefix}_wheel_link"/>
<xacro:insert_block name="joint_pose"/>
<axis xyz="0 -1 0" rpy="0 0 0" />
</joint>
</xacro:macro>
</robot>

6
scout_base/launch/scout_base.launch
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@@ -11,7 +11,7 @@
-->
<arg name="port_name" default="can0" />
<arg name="simulated_robot" default="false" />
<arg name = "model_xacro" default = "$(find scout_base)/description/scout_v2.xacro" />
<arg name ="odom_topic_name" default = "odom"/>
<node name="scout_base_node" pkg="scout_base" type="scout_base_node" output="screen">
@@ -22,7 +22,5 @@
<param name="base_frame" type="string" value="base_link" />
<param name = "odom_topic_name" type="string" value="$(arg odom_topic_name)" />
</node>
<param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>