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add apm

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HiepLM
2026-02-26 09:48:16 +07:00
parent e8d5980572
commit 148a5e2c60
158 changed files with 9014 additions and 1 deletions
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67
Controllers/Packages/cititruck_description/urdf/include/cititruck.gazebo.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="steer_controller_plugin_gazebo" params="prefix steer_joint steerdrive_wheel_joint wheel_radius">
<gazebo>
<plugin name="steer_drive_controller" filename="libgazebo_ros_steer_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>100</updateRate>
<steerJoint>${prefix}base2steer_joint</steerJoint>
<driveJoint>${prefix}steer2sd_wheel_joint</driveJoint>
<fixedWheelLeftJoint>${prefix}fixed_left_wheel_joint</fixedWheelLeftJoint>
<fixedWheelRightJoint>${prefix}fixed_right_wheel_joint</fixedWheelRightJoint>
<wheelDiameter>1.05</wheelDiameter>
<steeringFixWheelDistanceX>1.1</steeringFixWheelDistanceX>
<steeringFixWheelDistanceY>0.0</steeringFixWheelDistanceY>
<steerTorque>1000</steerTorque>
<driveTorque>1000</driveTorque>
<commandTopic>mobile_base_controller/cmd_vel</commandTopic>
<odometryTopic>mobile_base_controller/odom</odometryTopic>
<odometryFrame>world</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<odomEncSteeringAngleOffset>0.01</odomEncSteeringAngleOffset>
<!--odometrySource>encoder</odometrySource-->
<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
</plugin>
</gazebo>
</xacro:macro>
<xacro:macro name="set_wheel_friction" params="link friction">
<gazebo reference="${link}">
<mu1 value="${friction}"/>
<mu2 value="${friction}"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<minDepth>0.01</minDepth>
</gazebo>
</xacro:macro>
<xacro:macro name="set_all_wheel_frictions" params="prefix">
<xacro:set_wheel_friction link="${prefix}steer_link" friction="200"/>
<xacro:set_wheel_friction link="${prefix}drive_wheel_link" friction="200"/>
<xacro:set_wheel_friction link="${prefix}fixed_wheel_left_link" friction="1"/>
<xacro:set_wheel_friction link="${prefix}fixed_wheel_right_link" friction="1"/>
</xacro:macro>
<xacro:macro name="p3d_base_controller" params="prefix">
<gazebo>
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>${prefix}base_footprint</bodyName>
<topicName>base_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
</xacro:macro>
</robot>