549 lines
15 KiB
Text
549 lines
15 KiB
Text
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<?xml version="1.0"?>
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<!-- Adapted from the p2os package, see http://wiki.ros.org/p2os -->
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<!-- Git repository at https://github.com/allenh1/p2os -->
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<robot name="pioneer3dx" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:include filename="$(find pioneer_description)/urdf/pioneer3dx_wheel.xacro"/>
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<xacro:include filename="$(find pioneer_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find pioneer_description)/urdf/pioneer.gazebo" />
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<!-- Base link to interface with gmapping and move_base -->
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<link name="base_link"/>
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<!-- Chassis -->
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<joint name="chassis_joint" type="fixed">
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<origin xyz="-0.045 0 0.148" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="chassis"/>
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</joint>
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<link name="chassis">
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<visual name="chassis_visual">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/chassis.stl"/>
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</geometry>
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<material name="ChassisRed"/>
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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://pioneer_description/meshes/p3dx_meshes/chassis.stl"/>
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<!--box size="0.43 0.277 0.17"/-->
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</geometry>
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</collision>
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<inertial>
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<mass value="5.67"/>
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<inertia ixx="0.07" ixy="0" ixz="0"
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iyy="0.08" iyz="0"
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izz="0.10"
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/>
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</inertial>
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</link>
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<!-- Top -->
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<joint name="base_top_joint" type="fixed">
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<origin xyz="-0.045 0 0.234" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="top_plate"/>
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</joint>
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<link name="top_plate">
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<visual>
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0"
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iyy="1" iyz="0"
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izz="1"/>
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</inertial>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="top_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/top.stl"/>
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</geometry>
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<material name="TopBlack"/>
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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://pioneer_description/meshes/p3dx_meshes/top.stl"/>
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<!--box size="0.44 0.38 0.005"/-->
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</geometry>
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</collision>
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</link>
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<!-- Swivel -->
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<joint name="base_swivel_joint" type="continuous">
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<origin xyz="-0.185 0 0.055" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<!--<anchor xyz="0 0 0"/>
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<limit effort="100" velocity="100" k_velocity="0" />
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<joint_properties damping="0.0" friction="0.0" />-->
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<parent link="base_link"/>
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<child link="swivel"/>
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</joint>
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<link name="swivel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.01" ixy="0" ixz="0"
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iyy="0.01" iyz="0" izz="0.01"/>
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</inertial>
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<visual name="base_visual">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/swivel.stl"/>
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</geometry>
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<material name="swivel"/>
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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://pioneer_description/meshes/p3dx_meshes/swivel.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Center Wheel + Hubcap -->
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<link name="center_hubcap">
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<inertial>
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<mass value="0.01"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
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iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="base_visual">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_hubcap.stl"/>
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</geometry>
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<material name="HubcapGrey"/>
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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://pioneer_description/meshes/p3dx_meshes/center_hubcap.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="swivel_hubcap_joint" type="continuous">
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<origin xyz="-0.026 0 -0.016" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<!--<anchor xyz="0 0 0"/>
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<limit effort="1000" velocity="1000" k_velocity="0" />
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<joint_properties damping="0.0" friction="0.0" />-->
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<parent link="swivel"/>
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<child link="center_wheel"/>
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</joint>
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<link name="center_wheel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
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iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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</inertial>
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<visual name="base_visual">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_wheel.stl"/>
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</geometry>
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<material name="WheelBlack"/>
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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://pioneer_description/meshes/p3dx_meshes/center_wheel.stl"/>
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<!--<cylinder radius="0.0375" length="0.03"/>-->
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</geometry>
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</collision>
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</link>
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<joint name="center_wheel_joint" type="fixed">
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<origin xyz="-0.0035 0 -0.001" rpy="0 0 0"/>
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<parent link="center_wheel"/>
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<child link="center_hubcap"/>
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</joint>
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<!-- Left Wheel -->
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<joint name="base_left_wheel_joint" type="continuous">
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<origin xyz="0 0.155 0.093" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<!--<anchor xyz="0 0 0"/>
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<limit effort="1000" velocity="1000" k_velocity="0" />
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<joint_properties damping="0.0" friction="0.0" />-->
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<parent link="base_link"/>
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<child link="left_wheel"/>
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</joint>
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<link name="left_wheel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
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iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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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://pioneer_description/meshes/p3dx_meshes/left_wheel.stl"/>
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</geometry>
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<material name="WheelBlack"/>
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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://pioneer_description/meshes/p3dx_meshes/left_wheel.stl"/>
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<!--<cylinder radius="0.092" length="0.04"/>-->
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</geometry>
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</collision>
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</link>
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<joint name="left_wheel_hub_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="left_wheel"/>
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<child link="left_hub"/>
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</joint>
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<link name="left_hub">
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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://pioneer_description/meshes/p3dx_meshes/left_hubcap.stl"/>
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</geometry>
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<material name="HubcapYellow"/>
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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://pioneer_description/meshes/p3dx_meshes/left_hubcap.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Right Wheel -->
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<joint name="base_right_wheel_joint" type="continuous">
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<origin xyz="0 -0.155 0.093" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<!--<anchor xyz="0 0 0"/>
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<limit effort="1000" velocity="1000" k_velocity="0" />
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<joint_properties damping="0.0" friction="0.0" />-->
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<parent link="base_link"/>
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<child link="right_wheel"/>
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</joint>
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<link name="right_wheel">
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<inertial>
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<mass value="0.1"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
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iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
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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://pioneer_description/meshes/p3dx_meshes/right_wheel.stl"/>
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</geometry>
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<material name="WheelBlack"/>
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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://pioneer_description/meshes/p3dx_meshes/right_wheel.stl"/>
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<!--<cylinder radius="0.092" length="0.04"/>-->
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</geometry>
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</collision>
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</link>
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<joint name="right_wheel_hub_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="right_wheel"/>
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<child link="right_hub"/>
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</joint>
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<link name="right_hub">
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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://pioneer_description/meshes/p3dx_meshes/right_hubcap.stl"/>
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</geometry>
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<material name="HubcapYellow"/>
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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://pioneer_description/meshes/p3dx_meshes/right_hubcap.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Front + Back Sonar -->
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<link name="front_sonar">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0"
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iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual name="base_visual">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/front_sonar.stl"/>
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</geometry>
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<material name="SonarYellow"/>
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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://pioneer_description/meshes/p3dx_meshes/front_sonar.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="base_front_joint" type="fixed">
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<origin xyz="-0.198 0 0.208" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="front_sonar"/>
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</joint>
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<link name="back_sonar">
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<inertial>
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<mass value="0.0001"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="1" ixy="0" ixz="0"
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iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual name="back_sonar_vis">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry name="pioneer_geom">
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<mesh filename="package://pioneer_description/meshes/p3dx_meshes/back_sonar.stl"/>
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</geometry>
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<material name="SonarYellow"/>
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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://pioneer_description/meshes/p3dx_meshes/back_sonar.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="base_back_joint" type="fixed">
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<origin xyz="0.109 0 0.209" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="back_sonar"/>
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</joint>
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<!-- pilier -->
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<joint name="pilier_joint" type="fixed">
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<origin xyz="-0.076 0 0.102" rpy="0 0 0"/>
|
||
|
|
<parent link="top_plate"/>
|
||
|
|
<child link="pilier_link"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="pilier_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.15 0.143 0.197"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0.065 0.0615 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.02 0.02 0.197"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="PilierGrey"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="-0.065 0.0615 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.02 0.02 0.197"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="PilierGrey"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0.065 -0.0615 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.02 0.02 0.197"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="PilierGrey"/>
|
||
|
|
</visual>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="-0.065 -0.0615 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.02 0.02 0.197"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="PilierGrey"/>
|
||
|
|
</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>
|
||
|
|
|
||
|
|
<!-- plaque suport RPLIDAR -->
|
||
|
|
|
||
|
|
<joint name="plaque_joint" type="fixed">
|
||
|
|
<origin xyz="0 0 0.10" rpy="0 0 0"/>
|
||
|
|
<parent link="pilier_link"/>
|
||
|
|
<child link="plaque_link"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="plaque_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.15 0.143 0.003"/>
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<box size="0.15 0.143 0.003"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="PlaqueGrey"/>
|
||
|
|
</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>
|
||
|
|
|
||
|
|
|
||
|
|
<!-- OrbbecAstra -->
|
||
|
|
<joint name="OrbbecAstra_joint" type="fixed">
|
||
|
|
<origin xyz="0.206 0 0.0375" rpy="0 0 0"/>
|
||
|
|
<!-- <origin xyz="0.14 0.085 0.0025" rpy="0 0 -1.5708"/>-->
|
||
|
|
<parent link="top_plate"/>
|
||
|
|
<child link="OrbbecAstra_link"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="OrbbecAstra_link">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh scale="0.001 0.001 0.001" filename="package://pioneer_description/meshes/OrbbecAstra.stl"/>
|
||
|
|
<!-- <box size="0.05 0.07 0.10"/> -->
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh scale="0.001 0.001 0.001" filename="package://pioneer_description/meshes/OrbbecAstra.stl"/>
|
||
|
|
</geometry>
|
||
|
|
<material name="OrbbecAstraGrey"/>
|
||
|
|
</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>
|
||
|
|
|
||
|
|
|
||
|
|
<!-- RPLIDAR-A2-->
|
||
|
|
<joint name="rplidarA2_joint" type="fixed">
|
||
|
|
<origin xyz="0 0 0.0265" rpy="0 0 0"/>
|
||
|
|
<parent link="plaque_link"/>
|
||
|
|
<child link="laser"/>
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="laser">
|
||
|
|
<collision>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh scale="0.001 0.001 0.001" filename="package://pioneer_description/meshes/rplidar-a2m4-r1.stl"/>
|
||
|
|
<!-- <box size="0.05 0.07 0.10"/> -->
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
|
||
|
|
<visual>
|
||
|
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||
|
|
<geometry>
|
||
|
|
<mesh scale="0.001 0.001 0.001" filename="package://pioneer_description/meshes/rplidar-a2m4-r1.stl"/>
|
||
|
|
<!-- <box size="0.05 0.07 0.10"/> -->
|
||
|
|
</geometry>
|
||
|
|
<material name="RplidarBlack"/>
|
||
|
|
</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>
|
||
|
|
|
||
|
|
<!-- Hat -->
|
||
|
|
<!-- <joint name="hat_joint" type="fixed">-->
|
||
|
|
<!-- <origin xyz="0.0 0 0.0255" rpy="0 0 0"/>-->
|
||
|
|
<!-- <parent link="top_plate"/>-->
|
||
|
|
<!-- <child link="hat_link"/>-->
|
||
|
|
<!-- </joint>-->
|
||
|
|
|
||
|
|
<!-- <link name="hat_link">-->
|
||
|
|
<!-- <collision>-->
|
||
|
|
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <box size="0.15 0.2 0.4"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- </collision>-->
|
||
|
|
|
||
|
|
<!-- <visual>-->
|
||
|
|
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>-->
|
||
|
|
<!-- <geometry>-->
|
||
|
|
<!-- <box size="0.15 0.2 0.4"/>-->
|
||
|
|
<!-- </geometry>-->
|
||
|
|
<!-- <material name="HatGrey"/>-->
|
||
|
|
<!-- </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>-->
|
||
|
|
|
||
|
|
<!-- START: Not sure if I need this, may allow for rosservice calls to gazebo joint manager -->
|
||
|
|
<transmission name="tran1">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="base_left_wheel_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="motor1">
|
||
|
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
|
||
|
|
<transmission name="tran2">
|
||
|
|
<type>transmission_interface/SimpleTransmission</type>
|
||
|
|
<joint name="base_right_wheel_joint">
|
||
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||
|
|
</joint>
|
||
|
|
<actuator name="motor2">
|
||
|
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||
|
|
<mechanicalReduction>1</mechanicalReduction>
|
||
|
|
</actuator>
|
||
|
|
</transmission>
|
||
|
|
<!-- END: Not sure if I need this -->
|
||
|
|
|
||
|
|
</robot>
|