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This commit is contained in:
Ruixiang Du
2020-04-01 18:51:34 +08:00
parent b8144488f3
commit d221d37dea
9 changed files with 344 additions and 56 deletions
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33
scout_description/urdf/scout_v2.xacro
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@@ -24,14 +24,30 @@
<xacro:property name="wheel_length" value="1.1653e-01" />
<xacro:property name="wheel_radius" value="1.6459e-01" />
<!-- Virtual link as root -->
<link name="vehicle_reference" />
<joint name="veh_ref_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="vehicle_reference" />
<child link="base_link" />
</joint>
<!-- 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_full.dae" />
<mesh filename="package://scout_description/meshes/base_link.dae" />
</geometry>
</visual>
<inertial>
<mass value="40" />
<!-- <mass value="50" /> -->
<!-- <origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
<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>
<collision>
<origin xyz="0 0 0.008" rpy="0 0 0" />
<geometry>
@@ -55,21 +71,6 @@
<child link="base_footprint" />
</joint>
<!-- Interial link -->
<link name="inertial_link">
<inertial>
<mass value="46.034" />
<origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
</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 -->