mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready
This commit is contained in:
Ruixiang Du
@@ -1,10 +1,12 @@
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<?xml version="1.0"?>
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<!--
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Reference:
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[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
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[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
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[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
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[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
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[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
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[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
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[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
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[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
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-->
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
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@@ -1,277 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from scout_v2.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="scout_v2">
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<!-- Virtual link as root -->
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<link name="vehicle_reference"/>
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<joint name="veh_ref_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="vehicle_reference"/>
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<child link="base_link"/>
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</joint>
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<!-- Base link -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/base_link.dae"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="40"/>
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<!-- <mass value="50" /> -->
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<!-- <origin xyz="-0.00065 -0.085 0.062" />
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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<origin xyz="0.0 0.0 0.0"/>
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.008"/>
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<geometry>
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<box size="0.925 0.38 0.21"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.035"/>
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<geometry>
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<box size="0.154166666667 0.627 0.07"/>
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</geometry>
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</collision>
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</link>
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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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<origin rpy="0 0 0" xyz="0 0 -0.23479"/>
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<parent link="base_link"/>
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<child link="base_footprint"/>
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</joint>
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<link name="front_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="front_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="front_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_left_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<link name="rear_right_wheel_link">
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<inertial>
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<mass value="3"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.11653" radius="0.16459"/>
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</geometry>
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</collision>
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</link>
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<joint name="rear_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_right_wheel_link"/>
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<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
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<axis rpy="0 0 0" xyz="0 -1 0"/>
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</joint>
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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<!-- This file is a placeholder which is included by default from
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husky.urdf.xacro. If a robot is being customized and requires
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additional URDF, set the HUSKY_URDF_EXTRAS environment variable
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to the full path of the file you would like included. -->
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<!-- Additional definitions for simulation -->
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<!-- <gazebo reference="base_link">
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<material>Gazebo/Grey</material>
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</gazebo> -->
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<!-- kp spring constant, kd damping constant -->
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<gazebo reference="front_right_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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<minDepth value="0.001"/>
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<maxContacts value="64"/>
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</gazebo>
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<transmission name="front_right_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="front_right_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="front_right_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- kp spring constant, kd damping constant -->
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<gazebo reference="front_left_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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<minDepth value="0.001"/>
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<maxContacts value="64"/>
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</gazebo>
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<transmission name="front_left_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="front_left_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="front_left_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- kp spring constant, kd damping constant -->
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<gazebo reference="rear_left_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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<minDepth value="0.001"/>
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<maxContacts value="64"/>
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</gazebo>
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<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="rear_left_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="rear_left_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- kp spring constant, kd damping constant -->
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<gazebo reference="rear_right_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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<minDepth value="0.001"/>
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<maxContacts value="64"/>
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</gazebo>
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<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="rear_right_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="rear_right_wheel">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<!-- Controller configurations -->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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<!-- <gazebo>
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<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
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<updateRate>100.0</updateRate>
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<robotNamespace></robotNamespace>
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<leftFrontJoint>front_left_wheel</leftFrontJoint>
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<rightFrontJoint>front_right_wheel</rightFrontJoint>
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<leftRearJoint>rear_left_wheel</leftRearJoint>
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<rightRearJoint>rear_right_wheel</rightRearJoint>
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<wheelSeparation>4</wheelSeparation>
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<wheelDiameter>0.32918</wheelDiameter>
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<robotBaseFrame>base_link</robotBaseFrame>
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<torque>1000</torque>
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<commandTopic>cmd_vel</commandTopic>
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<broadcastTF>true</broadcastTF>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<covariance_x>0.000100</covariance_x>
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<covariance_y>0.000100</covariance_y>
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<covariance_yaw>0.010000</covariance_yaw>
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</plugin>
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</gazebo> -->
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<!-- <gazebo>
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<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
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<commandTopic>cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<odometryRate>20.0</odometryRate>
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<robotBaseFrame>base_footprint</robotBaseFrame>
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</plugin>
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</gazebo> -->
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</robot>
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@@ -24,22 +24,6 @@
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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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<!-- Virtual link as root -->
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<link name="vehicle_reference" />
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<joint name="veh_ref_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="vehicle_reference" />
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<child link="base_link" />
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</joint>
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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<!-- Base link -->
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<link name="base_link">
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<visual>
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@@ -48,14 +32,6 @@
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<mesh filename="package://scout_description/meshes/base_link.dae" />
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</geometry>
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</visual>
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<inertial>
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<mass value="40" />
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<!-- <mass value="50" /> -->
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<!-- <origin xyz="-0.00065 -0.085 0.062" />
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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<origin xyz="0.0 0.0 0.0" />
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
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</inertial>
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<collision>
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<origin xyz="0 0 0.008" rpy="0 0 0" />
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<geometry>
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@@ -70,15 +46,37 @@
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</collision>
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</link>
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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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<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
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<!-- <joint name="chassis_link_joint" type="fixed">
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<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="base_footprint" />
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<child link="chassis_link" />
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</joint> -->
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<link name="inertial_link">
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<inertial>
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<mass value="40" />
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<!-- <mass value="50" /> -->
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<!-- <origin xyz="-0.00065 -0.085 0.062" />
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
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<origin xyz="0.0 0.0 0.0" />
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<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
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</inertial>
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</link>
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<joint name="inertial_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="inertial_link" />
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</joint>
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<!-- For testing, hang the robot up in the air -->
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<!-- <link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint> -->
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<!-- Scout wheel macros -->
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<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
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<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
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Reference in New Issue
Block a user