309 lines
14 KiB
XML
Executable File
309 lines
14 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:arg name="mir_type" default="mir_250" /> <!-- The MiR variant. Can be "mir_100" or "mir_250" for now.-->
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<xacro:property name="mir_type" value="$(arg mir_type)" /> <!-- necessary because args cannot be accessed inside ${} expressions -->
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<xacro:include filename="$(find mir_description)/urdf/include/common_properties.urdf.xacro" />
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<xacro:include filename="$(find mir_description)/urdf/include/imu.gazebo.urdf.xacro" />
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<xacro:include filename="$(find mir_description)/urdf/include/mir.gazebo.xacro" />
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<xacro:include filename="$(find mir_description)/urdf/include/mir.transmission.xacro" />
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<xacro:include filename="$(find mir_description)/urdf/include/sick_s300.urdf.xacro" />
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<xacro:property name="deg_to_rad" value="0.017453293" />
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<!-- The inertia for the MiR platform is intentionally chosen to be smaller than
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the bounding box and also shifted a bit to the back, because most of the mass
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is in the lower center back (because of the batteries). -->
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<xacro:property name="mir_base_inertial_x" value="-0.05" />
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<xacro:property name="mir_base_inertial_y" value="0.0" />
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<xacro:property name="mir_base_inertial_z" value="0.15" />
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<xacro:property name="mir_base_inertial_x_length" value="0.50" />
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<xacro:property name="mir_base_inertial_y_length" value="0.30" />
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<xacro:property name="mir_base_inertial_z_length" value="0.20" />
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<xacro:if value="${mir_type == 'mir_100'}">
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<xacro:property name="mir_base_mass" value="77.0" />
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<xacro:property name="mir_act_wheel_radius" value="0.0625" />
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<xacro:property name="mir_act_wheel_width" value="0.032" />
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<xacro:property name="mir_act_wheel_mass" value="1.0" />
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<xacro:property name="mir_act_wheel_dx" value="0.037646" />
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<xacro:property name="mir_act_wheel_dy" value="0.222604" />
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<xacro:property name="mir_base_mass" value="97.0" />
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<xacro:property name="mir_act_wheel_radius" value="0.100" />
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<xacro:property name="mir_act_wheel_width" value="0.038" />
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<xacro:property name="mir_act_wheel_mass" value="1.0" />
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<xacro:property name="mir_act_wheel_dx" value="-0.004485" />
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<xacro:property name="mir_act_wheel_dy" value="0.2015" />
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</xacro:if>
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<xacro:property name="mir_caster_wheel_radius" value="0.0625" />
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<xacro:property name="mir_caster_wheel_width" value="0.032" />
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<xacro:property name="mir_caster_wheel_mass" value="1.0" />
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<xacro:property name="mir_caster_wheel_dx" value="-0.0382" />
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<xacro:property name="mir_caster_wheel_dy" value="0" />
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<xacro:property name="mir_caster_wheel_dz" value="-0.094" />
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<xacro:property name="mir_front_caster_wheel_base_dx" value="0.3037" />
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<xacro:if value="${mir_type == 'mir_100'}">
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<xacro:property name="mir_back_caster_wheel_base_dx" value="0.3078" />
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<xacro:property name="mir_caster_wheel_base_dy" value="0.203" />
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<xacro:property name="mir_back_caster_wheel_base_dx" value="0.296" />
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<xacro:property name="mir_caster_wheel_base_dy" value="0.188" />
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</xacro:if>
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<xacro:property name="mir_caster_wheel_base_dz" value="${mir_caster_wheel_radius - mir_caster_wheel_dz}" />
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<!-- from visually matching up the meshes of the MiR and the laser scanner -->
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<xacro:if value="${mir_type == 'mir_100'}">
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<xacro:property name="laser_dx" value="0.392" />
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<xacro:property name="laser_dy" value="0.2358" />
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<xacro:property name="laser_dz" value="0.1914" />
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<xacro:property name="laser_dx" value="0.315" />
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<xacro:property name="laser_dy" value="0.205" />
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<xacro:property name="laser_dz" value="0.1914" />
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</xacro:if>
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<xacro:macro name="actuated_wheel" params="prefix locationprefix locationright">
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<joint name="${prefix}${locationprefix}_wheel_joint" type="continuous">
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<origin xyz="0.0 ${-mir_act_wheel_dy * locationright} ${mir_act_wheel_radius}" rpy="0 0 0" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}${locationprefix}_wheel_link" />
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<axis xyz="0 1 0" />
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<limit effort="100" velocity="20.0" />
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</joint>
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<link name="${prefix}${locationprefix}_wheel_link">
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<xacro:cylinder_inertial mass="${mir_act_wheel_mass}" radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}">
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<origin xyz="0 0 0" rpy="${0.5 * pi} 0 0" />
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</xacro:cylinder_inertial>
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<visual>
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<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
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<geometry>
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<cylinder radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}" />
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</geometry>
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<xacro:insert_block name="material_black" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
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<geometry>
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<cylinder radius="${mir_act_wheel_radius}" length="${mir_act_wheel_width}" />
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</geometry>
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</collision>
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</link>
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<gazebo reference="${prefix}${locationprefix}_wheel_link">
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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</xacro:macro>
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<xacro:macro name="caster_wheel" params="prefix locationprefix locationright wheel_base_dx">
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<!-- caster hub -->
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<joint name="${prefix}${locationprefix}_caster_rotation_joint" type="continuous">
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<origin xyz="${wheel_base_dx} ${-mir_caster_wheel_base_dy * locationright} ${mir_caster_wheel_base_dz}" rpy="0 0 0" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}${locationprefix}_caster_rotation_link" />
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<axis xyz="0 0 1" />
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<dynamics damping="0.01" friction="0.0"/>
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</joint>
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<link name="${prefix}${locationprefix}_caster_rotation_link">
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<inertial>
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<!-- <origin xyz="0 0 -0.042500000044" rpy="${0.5 * pi} ${24 * deg_to_rad} ${1.5 * pi}" /> -->
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<origin xyz="0 0 -0.042500000044" rpy="${24 * deg_to_rad} 0 ${0.5 * pi} " />
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<mass value="0.3097539019" />
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<inertia
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ixx="0.0005844517978"
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ixy="0"
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ixz="0"
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iyy="0.00052872551237"
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iyz="0"
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izz="0.00017923555074" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://mir_description/meshes/visual/caster_wheel_base.stl" />
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</geometry>
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<xacro:if value="${mir_type == 'mir_100'}">
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<xacro:insert_block name="material_silver" />
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<xacro:insert_block name="material_black" />
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</xacro:if>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://mir_description/meshes/collision/caster_wheel_base.stl" />
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</geometry>
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</collision>
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</link>
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<gazebo reference="${prefix}${locationprefix}_caster_rotation_link">
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<xacro:if value="${mir_type == 'mir_100'}">
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<material>Gazebo/Grey</material>
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<material>Gazebo/FlatBlack</material>
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</xacro:if>
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</gazebo>
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<!-- caster wheel -->
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<joint name="${prefix}${locationprefix}_caster_wheel_joint" type="continuous">
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<origin xyz="${mir_caster_wheel_dx} ${-mir_caster_wheel_dy * locationright} ${mir_caster_wheel_dz}" rpy="0 0 0" />
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<parent link="${prefix}${locationprefix}_caster_rotation_link" />
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<child link="${prefix}${locationprefix}_caster_wheel_link" />
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<axis xyz="0 1 0" />
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</joint>
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<link name="${prefix}${locationprefix}_caster_wheel_link">
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<xacro:cylinder_inertial mass="${mir_caster_wheel_mass}" radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}">
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<origin xyz="0 0 0" rpy="${0.5 * pi} 0 0" />
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</xacro:cylinder_inertial>
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<visual>
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<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
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<geometry>
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<cylinder radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}" />
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</geometry>
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<xacro:insert_block name="material_black" />
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
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<geometry>
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<cylinder radius="${mir_caster_wheel_radius}" length="${mir_caster_wheel_width}" />
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</geometry>
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</collision>
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</link>
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<gazebo reference="${prefix}${locationprefix}_caster_wheel_link">
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<material>Gazebo/FlatBlack</material>
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</gazebo>
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</xacro:macro>
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<xacro:macro name="mir" params="prefix">
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<link name="${prefix}base_footprint" />
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<joint name="${prefix}base_joint" type="fixed">
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<parent link="${prefix}base_footprint" />
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<child link="${prefix}base_link" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<link name="${prefix}base_link">
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<xacro:box_inertial mass="${mir_base_mass}" x="${mir_base_inertial_x_length}" y="${mir_base_inertial_y_length}" z="${mir_base_inertial_z_length}">
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<origin xyz="${mir_base_inertial_x + mir_act_wheel_dx} ${mir_base_inertial_y} ${mir_base_inertial_z}" rpy="0 0 0" />
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</xacro:box_inertial>
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<visual>
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<origin xyz="${mir_act_wheel_dx} 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://mir_description/meshes/visual/${mir_type}_base.stl" />
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</geometry>
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<xacro:if value="${mir_type == 'mir_100'}">
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<xacro:insert_block name="material_white" />
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<xacro:insert_block name="material_dark_grey" />
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</xacro:if>
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</visual>
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<collision>
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<origin xyz="${mir_act_wheel_dx} 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://mir_description/meshes/collision/${mir_type}_base.stl" />
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</geometry>
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</collision>
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</link>
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<gazebo reference="${prefix}base_link">
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<xacro:if value="${mir_type == 'mir_100'}">
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<material>Gazebo/White</material>
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</xacro:if>
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<xacro:if value="${mir_type == 'mir_250'}">
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<material>Gazebo/DarkGrey</material>
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</xacro:if>
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</gazebo>
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<!-- IMU -->
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<joint name="${prefix}base_link_to_imu_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}imu_link" />
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<origin xyz="0.0 0.0 0.25" rpy="0 0 0" /> <!-- same as real MiR -->
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</joint>
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<link name="${prefix}imu_link" />
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<xacro:imu_gazebo link="${prefix}imu_link" imu_topic="imu_data" update_rate="50.0" />
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<!-- Create an alias for imu_link. This is necessary because the real MiR's
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TF has imu_link, but the imu_data topic is published in the imu_frame
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frame. -->
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<joint name="${prefix}imu_link_to_imu_frame_joint" type="fixed">
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<parent link="${prefix}imu_link" />
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<child link="${prefix}imu_frame" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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</joint>
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<link name="${prefix}imu_frame" />
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<!-- Laser scanners -->
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<joint name="${prefix}base_link_to_front_laser_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}front_laser_link" />
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<origin xyz="${laser_dx + mir_act_wheel_dx} ${laser_dy} ${laser_dz}" rpy="0.0 0.0 ${0.25 * pi}" />
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</joint>
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<xacro:sick_s300 prefix="${prefix}" link="front_laser_link" topic="f_scan" />
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<joint name="${prefix}base_link_to_back_laser_joint" type="fixed">
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<parent link="${prefix}base_link" />
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<child link="${prefix}back_laser_link" />
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<origin xyz="${-laser_dx + mir_act_wheel_dx} ${-laser_dy} ${laser_dz}" rpy="0.0 0.0 ${-0.75 * pi}" />
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</joint>
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<xacro:sick_s300 prefix="${prefix}" link="back_laser_link" topic="b_scan" />
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<!-- Ultrasound sensors -->
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<joint name="${prefix}us_1_joint" type="fixed"> <!-- right ultrasound -->
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<parent link="${prefix}base_link" />
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<child link="${prefix}us_1_frame" />
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<origin xyz="0.45 -0.12 0.16 " rpy="0 0 0" /> <!-- from visually matching to the mesh of the MiR -->
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</joint>
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<link name="${prefix}us_1_frame" />
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<joint name="${prefix}us_2_joint" type="fixed"> <!-- left ultrasound -->
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<parent link="${prefix}base_link" />
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<child link="${prefix}us_2_frame" />
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<origin xyz="0.45 0.12 0.16 " rpy="0 0 0" /> <!-- from visually matching to the mesh of the MiR -->
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</joint>
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<link name="${prefix}us_2_frame" />
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<!-- wheels -->
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<xacro:actuated_wheel prefix="${prefix}" locationprefix="left" locationright="-1"/>
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<xacro:actuated_wheel prefix="${prefix}" locationprefix="right" locationright="1"/>
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<xacro:caster_wheel prefix="${prefix}" locationprefix="fl" locationright="-1" wheel_base_dx="${mir_front_caster_wheel_base_dx + mir_act_wheel_dx}"/>
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<xacro:caster_wheel prefix="${prefix}" locationprefix="fr" locationright="1" wheel_base_dx="${mir_front_caster_wheel_base_dx + mir_act_wheel_dx}"/>
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<xacro:caster_wheel prefix="${prefix}" locationprefix="bl" locationright="-1" wheel_base_dx="${-mir_back_caster_wheel_base_dx + mir_act_wheel_dx}"/>
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<xacro:caster_wheel prefix="${prefix}" locationprefix="br" locationright="1" wheel_base_dx="${-mir_back_caster_wheel_base_dx + mir_act_wheel_dx}"/>
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<joint name="${prefix}base_link_surface_joint" type="fixed">
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<origin xyz="${mir_act_wheel_dx} 0 0.352" rpy="0 0 0" />
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<parent link="${prefix}base_link" />
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<child link="${prefix}surface" />
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<axis xyz="0 0 1" />
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</joint>
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<link name="${prefix}surface"/>
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<xacro:mir_wheel_transmissions prefix="${prefix}"/>
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<!-- set the gazebo friction parameters for the wheels -->
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<xacro:set_all_wheel_frictions prefix="${prefix}"/>
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<xacro:p3d_base_controller prefix="${prefix}" />
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</xacro:macro>
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</robot>
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