mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
95 lines
3.5 KiB
XML
95 lines
3.5 KiB
XML
<?xml version="1.0"?>
|
|
|
|
<robot name="scout_v2"
|
|
xmlns:xacro="http://ros.org/wiki/xacro">
|
|
|
|
<xacro:arg name="robot_namespace" default="/" />
|
|
<xacro:arg name="onboard_sensors" default="false" />
|
|
|
|
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type1.xacro" />
|
|
<xacro:include filename="$(find scout_base)/description/sub_elements/scout_wheel_type2.xacro" />
|
|
|
|
<!-- Variables -->
|
|
<xacro:property name="M_PI" value="3.14159"/>
|
|
|
|
<!-- 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" />
|
|
|
|
<xacro:property name="wheelbase" value="0.498" />
|
|
<xacro:property name="track" value="0.58306" />
|
|
<xacro:property name="wheel_vertical_offset" value="-0.0702" />
|
|
|
|
<xacro:property name="wheel_length" value="1.1653e-01" />
|
|
<xacro:property name="wheel_radius" value="1.6459e-01" />
|
|
|
|
<!-- Base link -->
|
|
<link name="base_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="package://scout_description/meshes/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>
|
|
<collision>
|
|
<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<link name="base_footprint"/>
|
|
|
|
<joint name="base_footprint_joint" type="fixed">
|
|
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
|
|
<parent link="base_link" />
|
|
<child link="base_footprint" />
|
|
</joint>
|
|
|
|
<link name="inertial_link">
|
|
<inertial>
|
|
<mass value="40" />
|
|
<origin xyz="0.0 0.0 0.0" />
|
|
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
|
|
</inertial>
|
|
</link>
|
|
|
|
<joint name="inertial_joint" type="fixed">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<parent link="base_link" />
|
|
<child link="inertial_link" />
|
|
</joint>
|
|
|
|
<!-- Scout wheel macros -->
|
|
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
|
|
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
|
|
<xacro:scout_wheel_type1 wheel_prefix="front_right">
|
|
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
|
</xacro:scout_wheel_type1>
|
|
<xacro:scout_wheel_type2 wheel_prefix="front_left">
|
|
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
|
</xacro:scout_wheel_type2>
|
|
<xacro:scout_wheel_type1 wheel_prefix="rear_left">
|
|
<origin xyz="${-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} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
|
</xacro:scout_wheel_type2>
|
|
|
|
<!-- Onboard sensors -->
|
|
<xacro:if value="$(arg onboard_sensors)">
|
|
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
|
|
</xacro:if>
|
|
|
|
<!-- Gazebo definitions -->
|
|
<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
|
|
</robot>
|