updated model for rviz

README.md

@@ -69,6 +69,7 @@ Two scripts inside the "scout_bringup/scripts" folder are provided for easy setu
 
     ```
     $ sudo apt install ros-melodic-teleop-twist-keyboard
+    $ sudo apt-get install ros-melodic-joint-state-publisher-gui
     ```
 
     Change ros-melodic-* in the command to ros-kinetic-* if you're using ROS Kinetic.

scout_description/launch/display_model.launch

@@ -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>

scout_description/rviz/model_display.rviz

@@ -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
+        X: 0.027046792209148407
-        Y: -0.025971120223402977
+        Y: -0.03490818291902542
-        Z: 0.012434899806976318
+        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:

scout_description/urdf/scout_v2.xacro

@@ -5,26 +5,25 @@
 
     <xacro:arg name="urdf_extras" default="empty.urdf" />
 
-    <!-- Included URDF/XACRO Files -->
+    <xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
-    <xacro:include filename="$(find scout_description)/urdf/scout_wheel.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>

scout_description/urdf/scout_wheel.xacro

@@ -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>