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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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137
scout_description/urdf/scout_v2.urdf Normal file
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="scout_v2">
<!-- Base link -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.008"/>
<geometry>
<box size="0.925 0.38 0.21"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.035"/>
<geometry>
<box size="0.154166666667 0.627 0.07"/>
</geometry>
</collision>
<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>
<link name="front_right_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 rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.11653" radius="0.16459"/>
</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="0.249 -0.29153 -0.0702"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="front_left_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 rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.11653" radius="0.16459"/>
</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="0.249 0.29153 -0.0702"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="rear_left_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 rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.11653" radius="0.16459"/>
</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="-0.249 0.29153 -0.0702"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<link name="rear_right_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 rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.11653" radius="0.16459"/>
</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="-0.249 -0.29153 -0.0702"/>
<axis rpy="0 0 0" xyz="0 -1 0"/>
</joint>
<!-- Additional definitions -->
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
<!-- Gazebo definitions -->
<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
</robot>