252 lines
8.6 KiB
XML
Executable File
252 lines
8.6 KiB
XML
Executable File
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
|
<xacro:arg name="robot_type" default="demo" />
|
|
<xacro:property name="robot_type" value="$(arg robot_type)" /> <!-- necessary because args cannot be accessed inside ${} expressions -->
|
|
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/common_properties.urdf.xacro" />
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/cititruck.gazebo.xacro" />
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/cititruck.transmission.xacro" />
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/imu.gazebo.urdf.xacro" />
|
|
<xacro:include filename="$(find cititruck_description)/urdf/include/sick_s300.urdf.xacro" />
|
|
|
|
<xacro:property name="deg_to_rad" value="0.017453293" />
|
|
|
|
<!-- The inertia for the MiR platform is intentionally chosen to be smaller than
|
|
the bounding box and also shifted a bit to the back, because most of the mass
|
|
is in the lower center back (because of the batteries). -->
|
|
|
|
<xacro:macro name="actuated_wheel" params="prefix locationprefix locationright">
|
|
<joint name="fixed_${locationprefix}_wheel_joint" type="continuous">
|
|
<parent link="${prefix}base_link"/>
|
|
<child link="${prefix}fixed_wheel_${locationprefix}_link"/>
|
|
<origin xyz="${locationright}" rpy="0 0 0" />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
|
|
<link name="${prefix}fixed_wheel_${locationprefix}_link">
|
|
<inertial>
|
|
<mass value="1"/>
|
|
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
|
|
<origin/>
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.05" length="0.08" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_black" />
|
|
</visual>
|
|
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.04" length="0.08" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<gazebo reference="${prefix}fixed_wheel_${locationprefix}_link">
|
|
<material>Gazebo/FlatBlack</material>
|
|
</gazebo>
|
|
</xacro:macro>
|
|
|
|
<xacro:macro name="fork" params="locationprefix locationright">
|
|
<xacro:box_inertial mass="5" x="1" y="0" z="0">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
</xacro:box_inertial>
|
|
<visual>
|
|
<origin xyz="${locationright}" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="1.35 0.15 0.04" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_grey" />
|
|
</visual>
|
|
</xacro:macro>
|
|
|
|
<!-- robot -->
|
|
<xacro:macro name="cititruck" params="prefix">
|
|
|
|
<link name="${prefix}base_footprint" />
|
|
|
|
<joint name="${prefix}base_joint" type="fixed">
|
|
<parent link="${prefix}base_footprint" />
|
|
<child link="${prefix}base_link" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
</joint>
|
|
|
|
<!-- Base Link -->
|
|
<link name="${prefix}base_link">
|
|
<xacro:box_inertial mass="30" x="1" y="0" z="0">
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
</xacro:box_inertial>
|
|
<visual>
|
|
<origin xyz="${1.3268 - 0.21 + 0.4/2} 0 ${0.8/2 + 0.3337 }" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.40 0.65 0.80" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_white" />
|
|
</visual>
|
|
|
|
<visual>
|
|
<origin xyz="${1.3268 - 0.21 + 0.4/2} 0 ${0.3 - 0.01}" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.40 0.65 0.02" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_grey" />
|
|
</visual>
|
|
|
|
<visual>
|
|
<origin xyz="${1.3268 - 0.21 + 0.02/2} 0 ${0.3 - (0.3 - 0.01)/2}" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.02 0.65 ${0.3 - 0.01}" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_grey" />
|
|
</visual>
|
|
|
|
<collision>
|
|
<origin xyz="${1.3268 - 0.21 + 0.4/2} 0 ${0.8/2 + 0.3337 }" rpy="0 0 0" />
|
|
<geometry>
|
|
<box size="0.40 0.70 0.80" />
|
|
</geometry>
|
|
</collision>
|
|
|
|
<xacro:fork locationprefix="left" locationright="${1.12 - 1.35/2} 0.205 ${0.05/2 + 0.3 - 0.29}"/>
|
|
<xacro:fork locationprefix="right" locationright="${1.12 - 1.35/2} -0.205 ${0.05/2 + 0.3 - 0.29}"/>
|
|
|
|
</link>
|
|
|
|
<gazebo reference="${prefix}base_link">
|
|
<material>Gazebo/White</material>
|
|
</gazebo>
|
|
|
|
<!-- <xacro:fork prefix="${prefix}" locationprefix="left" parent="base_link" locationright="${0.9 - 1.15/2} 0.205 ${0.05/2 + 0.3 - 0.29}"/> -->
|
|
<!-- <xacro:fork prefix="${prefix}" locationprefix="right" parent="base_link" locationright="${0.9 - 1.15/2} -0.205 ${0.05/2 + 0.3 - 0.29}"/> -->
|
|
|
|
<joint name="${prefix}base2steer_joint" type="revolute">
|
|
<parent link="${prefix}base_link"/>
|
|
<child link="${prefix}steer_link"/>
|
|
<limit effort="10000.0" lower="-1.8" upper="1.8" velocity="2500"/>
|
|
<origin xyz="1.3268 0 0.125" rpy="0 0 0" />
|
|
<axis xyz="0 0 1" />
|
|
</joint>
|
|
<xacro:cititruck_steer_transmission prefix="${prefix}" locationprefix="base2steer"/>
|
|
|
|
<link name="${prefix}steer_link">
|
|
<inertial>
|
|
<mass value="45"/>
|
|
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
|
|
<origin/>
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.09" length="0.1" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_dark_grey" />
|
|
</visual>
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.09" length="0.1" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<gazebo reference="${prefix}steer_link" >
|
|
<material>Gazebo/FlatBlack</material>
|
|
</gazebo>
|
|
|
|
<link name="${prefix}steer_link_2" />
|
|
|
|
<joint name="${prefix}steer2steer_2_joint" type="fixed">
|
|
<parent link="${prefix}steer_link" />
|
|
<child link="${prefix}steer_link_2" />
|
|
<origin xyz="0 0 1.02" rpy="0 0 0" />
|
|
</joint>
|
|
|
|
<joint name="${prefix}steer2sd_wheel_joint" type="continuous">
|
|
<parent link="${prefix}steer_link"/>
|
|
<child link="${prefix}drive_wheel_link"/>
|
|
<limit effort="10000.0" velocity="100"/>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<axis xyz="0 1 0" />
|
|
</joint>
|
|
<xacro:cititruck_wheel_transmission prefix="${prefix}" locationprefix="steer2sd"/>
|
|
|
|
<link name="${prefix}drive_wheel_link">
|
|
<inertial>
|
|
<mass value="10"/>
|
|
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
|
|
<origin/>
|
|
</inertial>
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.125" length="0.08" />
|
|
</geometry>
|
|
<xacro:insert_block name="material_yellow" />
|
|
</visual>
|
|
|
|
<collision>
|
|
<origin xyz="0 0 0" rpy="1.57 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.125" length="0.08" />
|
|
</geometry>
|
|
</collision>
|
|
|
|
</link>
|
|
|
|
<gazebo reference="${prefix}drive_wheel_link" >
|
|
<material>Gazebo/FlatBlack</material>
|
|
</gazebo>
|
|
|
|
<xacro:actuated_wheel prefix="${prefix}" locationprefix="left" locationright="0.0 0.205 ${0.05}"/>
|
|
<xacro:actuated_wheel prefix="${prefix}" locationprefix="right" locationright="0.0 -0.205 ${0.05}" />
|
|
|
|
<!-- IMU -->
|
|
<joint name="${prefix}base_link_to_imu_joint" type="fixed">
|
|
<parent link="${prefix}base_link" />
|
|
<child link="${prefix}imu_link" />
|
|
<origin xyz="${1.3268 -0.15} 0.0 0.3" rpy="0 0 0" /> <!-- same as real MiR -->
|
|
</joint>
|
|
|
|
<link name="${prefix}imu_link" />
|
|
|
|
<xacro:imu_gazebo link="${prefix}imu_link" imu_topic="imu_data" update_rate="50.0" />
|
|
|
|
<!-- Create an alias for imu_link. This is necessary because the real MiR's
|
|
TF has imu_link, but the imu_data topic is published in the imu_frame
|
|
frame. -->
|
|
<joint name="${prefix}imu_link_to_imu_frame_joint" type="fixed">
|
|
<parent link="${prefix}imu_link" />
|
|
<child link="${prefix}imu_frame" />
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="${prefix}imu_frame" />
|
|
|
|
|
|
<!-- Laser scanners -->
|
|
<joint name="${prefix}base_link_to_left_laser_joint" type="fixed">
|
|
<parent link="${prefix}base_link" />
|
|
<child link="${prefix}left_laser_link" />
|
|
<origin xyz="1.5447 0.2953 0.1743" rpy="0.0 0.0 ${0.25 * pi}" />
|
|
</joint>
|
|
<xacro:sick_s300 prefix="${prefix}" link="left_laser_link" topic="l_scan" />
|
|
|
|
<joint name="${prefix}base_link_to_right_laser_joint" type="fixed">
|
|
<parent link="${prefix}base_link" />
|
|
<child link="${prefix}right_laser_link" />
|
|
<origin xyz="1.5447 -0.2953 0.1743" rpy="0.0 0.0 ${-0.25 * pi}" />
|
|
</joint>
|
|
|
|
<xacro:sick_s300 prefix="${prefix}" link="right_laser_link" topic="r_scan" />
|
|
|
|
<!-- set the gazebo friction parameters for the wheels -->
|
|
<xacro:set_all_wheel_frictions prefix="${prefix}"/>
|
|
|
|
<xacro:p3d_base_controller prefix="${prefix}" />
|
|
</xacro:macro>
|
|
|
|
</robot>
|