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scout_description: urdf: rename scout_mini xacro

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Pin Loon Lee
2021-10-25 11:04:39 +08:00
parent b53042be5d
commit fe9c76c4f3
1 changed files with 1 additions and 1 deletions
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80
scout_description/urdf/scout_mini.xacro Normal file
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<?xml version="1.0"?>
<robot name="scout_mini"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="robot_namespace" default="/" />
<xacro:include filename="$(find scout_description)/urdf/scout_mini_wheel.xacro" />
<!-- Variables -->
<xacro:property name="M_PI" value="3.14159"/>
<!-- Vehicle Geometries -->
<xacro:property name="base_x_size" value="0.595000" />
<!-- <xacro:property name="base_y_size" value="0.335000" /> -->
<xacro:property name="base_y_size" value="0.395000" />
<xacro:property name="base_z_size" value="0.130000" />
<xacro:property name="wheelbase" value="0.452" />
<xacro:property name="track" value="0.49" />
<xacro:property name="wheel_vertical_offset" value="-0.0905" />
<xacro:property name="wheel_length" value="0.8520e-01" />
<xacro:property name="wheel_radius" value="0.8750e-01" />
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://scout_description/meshes/mini_base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.008" rpy="0 0 0" />
<geometry>
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
</geometry>
</collision>
</link>
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<parent link="base_link" />
<child link="base_footprint" />
</joint>
<link name="inertial_link">
<inertial>
<mass value="18" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="inertial_link" />
</joint>
<!-- Scout wheel macros -->
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
<xacro:scout_mini_wheel wheel_prefix="front_right">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_mini_wheel>
<xacro:scout_mini_wheel wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_mini_wheel>
<xacro:scout_mini_wheel wheel_prefix="rear_left">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:scout_mini_wheel>
<xacro:scout_mini_wheel wheel_prefix="rear_right">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_mini_wheel>
</robot>