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fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready

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Ruixiang Du
2020-04-02 11:43:29 +08:00
parent a1efd5b609
commit f73a2e2f59
15 changed files with 392 additions and 368 deletions
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58
scout_description/urdf/scout_v2.xacro
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@@ -24,22 +24,6 @@
<xacro:property name="wheel_length" value="1.1653e-01" />
<xacro:property name="wheel_radius" value="1.6459e-01" />
<!-- Virtual link as root -->
<link name="vehicle_reference" />
<joint name="veh_ref_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="vehicle_reference" />
<child link="base_link" />
</joint>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Base link -->
<link name="base_link">
<visual>
@@ -48,14 +32,6 @@
<mesh filename="package://scout_description/meshes/base_link.dae" />
</geometry>
</visual>
<inertial>
<mass value="40" />
<!-- <mass value="50" /> -->
<!-- <origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
<collision>
<origin xyz="0 0 0.008" rpy="0 0 0" />
<geometry>
@@ -70,15 +46,37 @@
</collision>
</link>
<!-- Base footprint: base_link projected to the gound plane -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<!-- <joint name="chassis_link_joint" type="fixed">
<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
<child link="chassis_link" />
</joint> -->
<link name="inertial_link">
<inertial>
<mass value="40" />
<!-- <mass value="50" /> -->
<!-- <origin xyz="-0.00065 -0.085 0.062" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="inertial_link" />
</joint>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->