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updated model for rviz

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This commit is contained in:
Ruixiang Du
2020-03-24 12:15:42 +08:00
parent 2d8a95a866
commit f249b5147b
14 changed files with 31 additions and 1142 deletions
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6
scout_description/launch/display_model.launch
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@@ -26,10 +26,10 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<launch>
<arg name="model" />
<arg name="gui" default="False" />
<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
<param name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- <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>

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scout_description/meshes/body_blue.dae
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scout_description/meshes/estop_button.dae
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scout_description/meshes/estop_protector.dae
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scout_description/meshes/parts_metal_black.dae
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scout_description/meshes/parts_plastic_black.dae
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scout_description/meshes/wheel_assembly.dae
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scout_description/meshes/wheel_hub.dae
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scout_description/meshes/wheel_hub_cap.dae
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scout_description/meshes/wheel_tire.dae
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12
scout_description/rviz/model_display.rviz
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@@ -170,25 +170,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 1.9643197059631348
Distance: 2.0112123489379883
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.11843720823526382
Y: -0.025971120223402977
Z: 0.012434899806976318
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: 0.3447958827018738
Pitch: 0.6247956156730652
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.9354026317596436
Yaw: 3.785417318344116
Saved: ~
Window Geometry:
Displays:

43
scout_description/urdf/scout_v2.xacro
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@@ -5,26 +5,25 @@
<xacro:arg name="urdf_extras" default="empty.urdf" />
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.xacro" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
<!-- Variables -->
<xacro:property name="M_PI" value="3.14159"/>
<!-- Base Size -->
<!-- Vehicle Geometries -->
<xacro:property name="base_x_size" value="0.9250000" />
<xacro:property name="base_y_size" value="0.380000" />
<xacro:property name="base_z_size" value="0.210000" />
<!-- Wheel Mounting Positions -->
<xacro:property name="wheelbase" value="0.498" />
<xacro:property name="track" value="0.58306" />
<xacro:property name="wheel_vertical_offset" value="-0.0702" />
<!-- Wheel Properties -->
<xacro:property name="wheel_length" value="1.1653e-01" />
<xacro:property name="wheel_radius" value="1.6459e-01" />
<!-- Base link is the center of the robot's bottom plate -->
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
@@ -46,7 +45,7 @@
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<!-- Base footprint: base_link projected to the gound plane -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
@@ -55,7 +54,7 @@
<child link="base_footprint" />
</joint>
<!-- Interial link stores the robot's inertial information -->
<!-- Interial link -->
<link name="inertial_link">
<inertial>
<mass value="46.034" />
@@ -70,6 +69,20 @@
<child link="inertial_link" />
</joint>
<!-- scout wheel macros -->
<xacro:scout_wheel_type2 wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel_type2>
<xacro:scout_wheel_type1 wheel_prefix="front_right">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type1>
<xacro:scout_wheel_type1 wheel_prefix="rear_left">
<origin xyz="${-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} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<!-- <link name="imu_link"/>
@@ -81,20 +94,6 @@
<gazebo reference="imu_link">
</gazebo> -->
<!-- scout wheel macros -->
<xacro:scout_wheel wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel>
<xacro:scout_wheel wheel_prefix="front_right">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel>
<xacro:scout_wheel wheel_prefix="rear_left">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel>
<xacro:scout_wheel wheel_prefix="rear_right">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_wheel>
<!-- <xacro:scout_decorate /> -->
<!-- <gazebo>

77
scout_description/urdf/scout_wheel.xacro
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@@ -1,77 +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" params="wheel_prefix *joint_pose">
<link name="${wheel_prefix}_wheel_link">
<inertial>
<mass value="2.637" />
<origin xyz="0 0 0" />
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/wheel_assembly.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
<geometry>
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
</geometry>
</collision>
</link>
<!-- <gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
</gazebo> -->
<joint name="${wheel_prefix}_wheel" type="continuous">
<parent link="base_link"/>
<child link="${wheel_prefix}_wheel_link"/>
<xacro:insert_block name="joint_pose"/>
<axis xyz="0 1 0" rpy="0 0 0" />
</joint>
<!-- <transmission name="${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>