mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
updated model for rviz
This commit is contained in:
Ruixiang Du
@@ -5,26 +5,25 @@
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<xacro:arg name="urdf_extras" default="empty.urdf" />
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<!-- Included URDF/XACRO Files -->
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.xacro" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
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<!-- Variables -->
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<xacro:property name="M_PI" value="3.14159"/>
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<!-- Base Size -->
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<!-- Vehicle Geometries -->
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<xacro:property name="base_x_size" value="0.9250000" />
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<xacro:property name="base_y_size" value="0.380000" />
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<xacro:property name="base_z_size" value="0.210000" />
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<!-- Wheel Mounting Positions -->
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<xacro:property name="wheelbase" value="0.498" />
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<xacro:property name="track" value="0.58306" />
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<xacro:property name="wheel_vertical_offset" value="-0.0702" />
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<!-- Wheel Properties -->
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<xacro:property name="wheel_length" value="1.1653e-01" />
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<xacro:property name="wheel_radius" value="1.6459e-01" />
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<!-- Base link is the center of the robot's bottom plate -->
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<!-- Base link -->
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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@@ -46,7 +45,7 @@
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</collision>
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</link>
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<!-- Base footprint is on the ground under the robot -->
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<!-- Base footprint: base_link projected to the gound plane -->
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<link name="base_footprint"/>
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<joint name="base_footprint_joint" type="fixed">
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@@ -55,7 +54,7 @@
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<child link="base_footprint" />
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</joint>
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<!-- Interial link stores the robot's inertial information -->
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<!-- Interial link -->
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<link name="inertial_link">
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<inertial>
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<mass value="46.034" />
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@@ -70,6 +69,20 @@
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<child link="inertial_link" />
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</joint>
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<!-- scout wheel macros -->
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<xacro:scout_wheel_type2 wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type2>
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type1 wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="rear_right">
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
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<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
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<!-- <link name="imu_link"/>
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@@ -81,20 +94,6 @@
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<gazebo reference="imu_link">
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</gazebo> -->
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<!-- scout wheel macros -->
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<xacro:scout_wheel wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel>
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<xacro:scout_wheel wheel_prefix="rear_right">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel>
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<!-- <xacro:scout_decorate /> -->
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<!-- <gazebo>
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@@ -1,77 +0,0 @@
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<?xml version="1.0"?>
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<!--
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Software License Agreement (BSD)
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\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
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Ruixiang Du <ruixiang.du@westonrobot.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
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<xacro:macro name="scout_wheel" params="wheel_prefix *joint_pose">
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<link name="${wheel_prefix}_wheel_link">
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<inertial>
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<mass value="2.637" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_assembly.dae" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}" />
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</geometry>
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</collision>
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</link>
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<!-- <gazebo reference="${wheel_prefix}_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0" />
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<kd value="1.0" />
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<fdir1 value="1 0 0"/>
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</gazebo> -->
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<joint name="${wheel_prefix}_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="${wheel_prefix}_wheel_link"/>
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<xacro:insert_block name="joint_pose"/>
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<axis xyz="0 1 0" rpy="0 0 0" />
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</joint>
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<!-- <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="${wheel_prefix}_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="${wheel_prefix}_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission> -->
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</xacro:macro>
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</robot>
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