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a0fae1b0f158cdb9f1fb591df702d58e61c68d75
scout_ros/scout_robot/urdf/scout.xacro
Ruixiang Du a0fae1b0f1 saved work, odom not right, to be fixed
2020-04-13 14:11:23 +08:00

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from scout.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<!--robot name="scout"-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="scout">
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="1.0" iyz="0.0"
izz="1.0" />
</inertial>
</xacro:macro>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<xacro:default_inertial mass="0.0001"/>
</link>
<xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0" />
<parent link="base_footprint" />
<child link="base_link" />
</joint>
<!-- the model -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
<mass value="50.594"/>
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
</geometry>
<!--material name="">
<color rgba="1 1 1 1"/>
</material-->
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
</geometry>
</collision>
</link>
<link name="front left_Link">
<inertial>
<origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
<mass value="6.2792"/>
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="front left_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
<parent link="base_link"/>
<child link="front left_Link"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="back left_Link">
<inertial>
<origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="back left_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
<parent link="base_link"/>
<child link="back left_Link"/>
<axis xyz="0 -1 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="front right_Link">
<inertial>
<origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="front right_joint" type="revolute">
<origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
<parent link="base_link"/>
<child link="front right_Link"/>
<axis xyz="0.0067885 0.99998 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<link name="back right_Link">
<inertial>
<origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
<mass value="6.2792"/>
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
</geometry>
<material name="">
<color rgba="0.79216 0.81961 0.93333 1"/>
</material>
<!--material name="black">
<color rgba="0 0 0 1"/>
</material-->
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
</geometry>
</collision>
</link>
<joint name="back right_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
<parent link="base_link"/>
<child link="back right_Link"/>
<axis xyz="0.0067885 -0.99998 0"/>
<limit effort="0" lower="-180" upper="180" velocity="0"/>
</joint>
<!-- Hokuyo joint -->
<joint name="hokuyo_joint" type="fixed">
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
<parent link="base_link"/>
<axis xyz="0 1 0" />
<child link="hokuyo_link"/>
</joint>
<!-- Hokuyo Laser -->
<link name="hokuyo_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://scout_robot/meshes/hokuyo.dae"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<!-- Drive controller -->
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
</robot>
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