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moved navigation and simulation packages to scout_nav

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This commit is contained in:
Ruixiang Du
2020-08-21 17:31:28 +08:00
parent 4ebad08517
commit e9f66d9f57
65 changed files with 8 additions and 8855 deletions
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13
scout_description/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(scout_description)
find_package(catkin REQUIRED COMPONENTS roslaunch)
catkin_package()
# roslaunch_add_file_check(launch)
install(
DIRECTORY launch meshes urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

10
scout_description/launch/display_model.launch
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<launch>
<arg name="model" />
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
</launch>

10
scout_description/launch/scout_v2_sensors.launch
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<launch>
<arg name="robot_namespace" default="/"/>
<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
robot_namespace:=$(arg robot_namespace)
onboard_sensors:='true'
urdf_extras:=$(arg urdf_extras)" />
</launch>

10
scout_description/launch/scout_v2_stock.launch
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<launch>
<arg name="robot_namespace" default="/"/>
<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
robot_namespace:=$(arg robot_namespace)
onboard_sensors:='false'
urdf_extras:=$(arg urdf_extras)" />
</launch>

442
scout_description/meshes/base_link.dae
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15
scout_description/meshes/base_link_full.dae
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<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>

253
scout_description/meshes/hokuyo.dae
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274
scout_description/meshes/wheel_type1.dae
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274
scout_description/meshes/wheel_type2.dae
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30
scout_description/package.xml
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<?xml version="1.0"?>
<package>
<name>scout_description</name>
<version>0.4.2</version>
<description>AgileX Scout Husky URDF description</description>
<author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
<author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
<author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
<author email="paul@bovbel.com">Paul Bovbel</author>
<author email="dash@clearpathrobotics.com">Devon Ash</author>
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
<maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
<url type="website">http://ros.org/wiki/scout_description</url>
<url type="bugtracker">https://github.com/husky/husky/issues</url>
<url type="repository">https://github.com/husky/husky</url>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<run_depend>urdf</run_depend>
<run_depend>xacro</run_depend>
<run_depend>lms1xx</run_depend>
<export>
</export>
</package>

480
scout_description/proto/ScoutV2.proto
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209
scout_description/rviz/model_display.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 732
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
chassis_link:
Value: true
front_left_wheel_link:
Value: true
front_right_wheel_link:
Value: true
inertial_link:
Value: true
rear_left_wheel_link:
Value: true
rear_right_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
chassis_link:
front_left_wheel_link:
{}
front_right_wheel_link:
{}
rear_left_wheel_link:
{}
rear_right_wheel_link:
{}
inertial_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.9432930946350098
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.027046792209148407
Y: -0.03490818291902542
Z: -0.09952529519796371
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5447957515716553
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.27542781829834
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1029
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1869
X: 632
Y: 291

209
scout_description/rviz/navigation.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 732
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
inertial_link:
Alpha: 1
Show Axes: false
Show Trail: false
rear_left_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right_wheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
chassis_link:
Value: true
front_left_wheel_link:
Value: true
front_right_wheel_link:
Value: true
inertial_link:
Value: true
rear_left_wheel_link:
Value: true
rear_right_wheel_link:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
chassis_link:
front_left_wheel_link:
{}
front_right_wheel_link:
{}
rear_left_wheel_link:
{}
rear_right_wheel_link:
{}
inertial_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.9432930946350098
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.027046792209148407
Y: -0.03490818291902542
Z: -0.09952529519796371
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5447957515716553
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.27542781829834
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1029
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1869
X: 632
Y: 291

6
scout_description/urdf/empty.urdf
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<robot>
<!-- This file is a placeholder which is included by default from
husky.urdf.xacro. If a robot is being customized and requires
additional URDF, set the HUSKY_URDF_EXTRAS environment variable
to the full path of the file you would like included. -->
</robot>

31
scout_description/urdf/onboard_sensors.urdf
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<robot>
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
<parent link="base_link"/>
<axis xyz="0 1 0" />
<child link="hokuyo_link"/>
</joint>
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://scout_description/meshes/hokuyo.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
</robot>

111
scout_description/urdf/scout_v2.gazebo
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<?xml version="1.0"?>
<!--
Reference:
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
<!-- Additional definitions for simulation -->
<!-- <gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo> -->
<!-- Actuator configurations -->
<xacro:scout_wheel_transmission wheel_prefix="front_right" />
<xacro:scout_wheel_transmission wheel_prefix="front_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
<!-- Controller configurations -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>$(arg robot_namespace)</robotNamespace>
</plugin>
</gazebo>
<!-- kp spring constant, kd damping constant -->
<gazebo>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<minDepth value="0.001" />
<maxContacts value="64"/>
</gazebo>
<!-- hokuyo -->
<gazebo reference="hokuyo_link">
<sensor type="ray" name="head_hokuyo_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<!-- Noise parameters based on published spec for Hokuyo laser
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
reading. -->
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>
<!-- <gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace></robotNamespace>
<leftFrontJoint>front_left_wheel</leftFrontJoint>
<rightFrontJoint>front_right_wheel</rightFrontJoint>
<leftRearJoint>rear_left_wheel</leftRearJoint>
<rightRearJoint>rear_right_wheel</rightRearJoint>
<wheelSeparation>4</wheelSeparation>
<wheelDiameter>0.32918</wheelDiameter>
<robotBaseFrame>base_link</robotBaseFrame>
<torque>1000</torque>
<commandTopic>cmd_vel</commandTopic>
<broadcastTF>true</broadcastTF>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<covariance_x>0.000100</covariance_x>
<covariance_y>0.000100</covariance_y>
<covariance_yaw>0.010000</covariance_yaw>
</plugin>
</gazebo> -->
<!-- <gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo> -->
</robot>

6
scout_description/urdf/scout_v2.proto
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#VRML_SIM R2019a utf8
# license: Apache License 2.0
# license url: http://www.apache.org/licenses/LICENSE-2.0
# This is a proto file for Webots for the ScoutV2
# Extracted from: ./scout_v2.urdf

137
scout_description/urdf/scout_v2.urdf
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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>

115
scout_description/urdf/scout_v2.xacro
View File

@@ -1,115 +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="urdf_extras" default="empty.urdf" />
<xacro:arg name="onboard_sensors" default="true" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_description)/urdf/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>
<!-- <joint name="chassis_link_joint" type="fixed">
<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
<parent link="base_link" />
<child link="chassis_link" />
</joint> -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<link name="inertial_link">
<inertial>
<mass value="40" />
<!-- <mass value="50" /> -->
<!-- <origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="inertial_link" />
</joint>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
<xacro:scout_wheel_type1 wheel_prefix="front_right">
<origin xyz="${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="$(find scout_description)/urdf/onboard_sensors.urdf" />
</xacro:if>
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />
<!-- Gazebo definitions -->
<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
</robot>

83
scout_description/urdf/scout_v2_webots.xacro
View File

@@ -1,83 +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="urdf_extras" default="empty.urdf" />
<xacro:arg name="onboard_sensors" default="false" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_description)/urdf/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} ${base_z_size/3}"/>
</geometry>
</collision>
<inertial>
<mass value="40" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
</link>
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
<xacro:scout_wheel_type1 wheel_prefix="front_right">
<origin xyz="${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="$(find scout_description)/urdf/onboard_sensors.xacro" />
<xacro:sensor_frame /> -->
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
</xacro:if>
<!-- Additional definitions -->
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
<!-- Gazebo definitions -->
<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
</robot>

42
scout_description/urdf/scout_wheel.gazebo
View File

@@ -1,42 +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_transmission" params="wheel_prefix">
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>

59
scout_description/urdf/scout_wheel_type1.xacro
View File

@@ -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_description/urdf/scout_wheel_type2.xacro
View File

@@ -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>