From af0081f05ba21df259d85864674fa97013e7b885 Mon Sep 17 00:00:00 2001 From: Hadrien Date: Sat, 27 Jun 2020 10:21:51 +0200 Subject: [PATCH] =?UTF-8?q?Transf=C3=A9rer=20les=20fichiers=20vers=20'Proj?= =?UTF-8?q?et/pioneer=5Fdescription/urdf'?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../pioneer_description/urdf/materials.xacro | 56 ++ .../pioneer_description/urdf/pioneer.gazebo | 213 +++++++ .../pioneer_description/urdf/pioneer3dx.xacro | 548 ++++++++++++++++++ .../urdf/pioneer3dx_wheel.xacro | 111 ++++ 4 files changed, 928 insertions(+) create mode 100644 Projet/pioneer_description/urdf/materials.xacro create mode 100644 Projet/pioneer_description/urdf/pioneer.gazebo create mode 100644 Projet/pioneer_description/urdf/pioneer3dx.xacro create mode 100644 Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro diff --git a/Projet/pioneer_description/urdf/materials.xacro b/Projet/pioneer_description/urdf/materials.xacro new file mode 100644 index 0000000..7c6ee60 --- /dev/null +++ b/Projet/pioneer_description/urdf/materials.xacro @@ -0,0 +1,56 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Projet/pioneer_description/urdf/pioneer.gazebo b/Projet/pioneer_description/urdf/pioneer.gazebo new file mode 100644 index 0000000..e767ada --- /dev/null +++ b/Projet/pioneer_description/urdf/pioneer.gazebo @@ -0,0 +1,213 @@ + + + + + + + + + pioneer + gazebo_ros_control/DefaultRobotHWSim + true + + + + + + + true + 100 + base_left_wheel_joint + base_right_wheel_joint + 5 + 0.39 + 0.15 + pioneer/cmd_vel + odom + odom + world + base_link + true + true + true + true + 0 + 5 + na + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.2 + 0.2 + + + + + + + + + + + 0 0 0 0 0 0 + false + 40.0 + + + + 550 + 1 + -3.1415 + 3.1415 + + + + 0.15 + 12.0 + 0.01 + + + gaussian + + 0.0 + 0.01 + + + + base_scan + laser + + + + + + + + 30 + + 1.047198 + + 640 + 480 + R8G8B8 + + + 0.6 + 8 + + + + 0.2 + true + 1.0 + camera_ir + /camera/color/image_raw + /camera/color/camera_info + /camera/depth/image_raw + /camera/depth/camera_info + /camera/depth/points + OrbbecAstra_link + 0.6 + 8.0 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0 + 0 + 0 + 0 + 0 + + + + + diff --git a/Projet/pioneer_description/urdf/pioneer3dx.xacro b/Projet/pioneer_description/urdf/pioneer3dx.xacro new file mode 100644 index 0000000..aa2fb4a --- /dev/null +++ b/Projet/pioneer_description/urdf/pioneer3dx.xacro @@ -0,0 +1,548 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + EffortJointInterface + 1 + + + + + diff --git a/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro b/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro new file mode 100644 index 0000000..8314393 --- /dev/null +++ b/Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${reflect * 624/35 * 80/19} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +