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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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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>