mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
102 lines
3.8 KiB
XML
102 lines
3.8 KiB
XML
<?xml version="1.0"?>
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<robot name="scout_v2"
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xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="urdf_extras" default="empty.urdf" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
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<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
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<!-- Variables -->
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<xacro:property name="M_PI" value="3.14159"/>
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<!-- Vehicle Geometries -->
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<xacro:property name="base_x_size" value="0.9250000" />
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<xacro:property name="base_y_size" value="0.380000" />
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<xacro:property name="base_z_size" value="0.210000" />
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<xacro:property name="wheelbase" value="0.498" />
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<xacro:property name="track" value="0.58306" />
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<xacro:property name="wheel_vertical_offset" value="-0.0702" />
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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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<!-- Base link -->
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="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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<collision>
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<origin xyz="0 0 0.008" rpy="0 0 0" />
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<geometry>
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<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
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<geometry>
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<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
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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 xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="base_footprint" />
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</joint>
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<!-- Interial link -->
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<link name="inertial_link">
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<inertial>
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<mass value="46.034" />
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<origin xyz="-0.00065 -0.085 0.062" />
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" />
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</inertial>
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</link>
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<joint name="inertial_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="inertial_link" />
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</joint>
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<!-- Scout wheel macros -->
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<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
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<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
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<xacro:scout_wheel_type1 wheel_prefix="front_right">
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<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="front_left">
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<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type2>
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<xacro:scout_wheel_type1 wheel_prefix="rear_left">
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<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
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</xacro:scout_wheel_type1>
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<xacro:scout_wheel_type2 wheel_prefix="rear_right">
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<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
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</xacro:scout_wheel_type2>
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<!-- For testing, hang the robot up in the air -->
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<link name="world" />
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<joint name="world_to_base_link=" type="fixed">
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<origin xyz="0 0 0.5" rpy="0 0 0" />
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<!-- Additional definitions -->
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<xacro:include filename="$(arg urdf_extras)" />
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<!-- Gazebo definitions -->
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<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
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</robot>
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