Transférer les fichiers vers 'Projet/pioneer_description/urdf'
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56
Projet/pioneer_description/urdf/materials.xacro
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56
Projet/pioneer_description/urdf/materials.xacro
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<?xml version="1.0"?>
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<robot>
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<material name="ChassisRed">
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<color rgba="0.851 0.0 0.0 1.0"/>
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</material>
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<material name="SonarYellow">
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<color rgba="0.715 0.583 0.210 1.0"/>
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</material>
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<material name="WheelBlack">
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<color rgba="0.117 0.117 0.117 1.0"/>
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</material>
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<material name="HubcapYellow">
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<color rgba="1.0 0.811 0.151 1.0"/>
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</material>
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<material name="TopBlack">
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<color rgba="0.038 0.038 0.038 1.0"/>
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</material>
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<material name="swivel">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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<material name="HubcapGrey">
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<color rgba="0.4 0.4 0.4 1"/>
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</material>
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<material name="CameraGreen">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="HatGrey">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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<material name="PilierGrey">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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<material name="PlaqueGrey">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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<material name="OrbbecAstraGrey">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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<material name="RplidarBlack">
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<color rgba="0.117 0.117 0.117 1.0"/>
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</material>
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</robot>
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213
Projet/pioneer_description/urdf/pioneer.gazebo
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Projet/pioneer_description/urdf/pioneer.gazebo
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<?xml version="1.0"?>
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<robot>
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<!-- ros_control plugin -->
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<!--<gazebo>
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<plugin name="differential_drive_controller" filename="libDiffDrivePlugin.so">
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<updateRate>100.0</updateRate>
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<robotNamespace>pioneer</robotNamespace>
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<left_joint>base_left_wheel_joint</left_joint>
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<right_joint>base_right_wheel_joint</right_joint>
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<torque>200</torque>
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<topicName>cmd_vel</topicName>
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</plugin>
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</gazebo>-->
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<!-- START: Not sure if I need this, may allow for rosservice calls to gazebo joint manager -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>pioneer</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<legacyModeNS>true</legacyModeNS>
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</plugin>
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</gazebo>
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<!-- END: Not sure if I need this -->
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<gazebo>
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<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
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<alwaysOn>true</alwaysOn>
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<updateRate>100</updateRate>
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<leftJoint>base_left_wheel_joint</leftJoint>
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<rightJoint>base_right_wheel_joint</rightJoint>
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<torque>5</torque>
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<wheelSeparation>0.39</wheelSeparation>
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<wheelDiameter>0.15</wheelDiameter>
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<commandTopic>pioneer/cmd_vel</commandTopic>
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<odometryTopic>odom</odometryTopic>
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<odometryFrame>odom</odometryFrame>
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<odometrySource>world</odometrySource>
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<robotBaseFrame>base_link</robotBaseFrame>
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<publishTf>true</publishTf>
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<publishOdomTF>true</publishOdomTF>
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<publishWheelTF>true</publishWheelTF>
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<publishWheelJointState>true</publishWheelJointState>
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<wheelAcceleration>0</wheelAcceleration>
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<wheelTorque>5</wheelTorque>
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<rosDebugLevel>na</rosDebugLevel>
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<legacyMode>true</legacyMode>
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</plugin>
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</gazebo>
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<!--<gazebo>
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<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
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<updateRate>100.0</updateRate>
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<robotNamespace>/pioneer</robotNamespace>
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<leftFrontJoint>base_left_wheel_joint</leftFrontJoint>
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<rightFrontJoint>base_right_wheel_joint</rightFrontJoint>
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<leftRearJoint>base_left_wheel_joint</leftRearJoint>
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<rightRearJoint>base_right_wheel_joint</rightRearJoint>
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<wheelSeparation>0.39</wheelSeparation>
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<wheelDiameter>0.15</wheelDiameter>
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<robotBaseFrame>base_link</robotBaseFrame>
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<torque>200</torque>
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<topicName>cmd_vel</topicName>
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</plugin>
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</gazebo>-->
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<!-- Chassis -->
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<gazebo reference="chassis">
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<material value="Gazebo/Red"/>
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</gazebo>
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<!-- Top -->
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<gazebo reference="top_plate">
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<material value="Gazebo/Black"/>
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</gazebo>
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<!-- Swivel -->
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<gazebo reference="swivel">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<!-- Center Wheel + Hubcap -->
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<gazebo reference="center_hubcap">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<gazebo reference="center_wheel">
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<material value="Gazebo/Black"/>
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</gazebo>
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<gazebo reference="left_hub">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<gazebo reference="left_wheel">
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<material value="Gazebo/Black"/>
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</gazebo>
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<gazebo reference="right_hub">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<gazebo reference="right_wheel">
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<material value="Gazebo/Black"/>
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</gazebo>
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<!-- Front + Back Sonar -->
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<gazebo reference="front_sonar">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<gazebo reference="back_sonar">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<!-- pilier -->
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<gazebo reference="pilier_link">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<!-- plaque suport RPLIDAR -->
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<gazebo reference="plaque_link">
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<material value="Gazebo/Grey"/>
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</gazebo>
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<!-- OrbbecAstra -->
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<gazebo reference="OrbbecAstra_link">
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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<material value="Gazebo/Grey"/>
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</gazebo>
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<!-- RPLIDAR-A2 -->
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<gazebo reference="laser">
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<material value="Gazebo/Black"/>
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</gazebo>
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<gazebo reference="laser">
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<sensor type="ray" name="RPlidar_A2">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>40.0</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>550</samples>
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<resolution>1</resolution>
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<min_angle>-3.1415</min_angle>
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<max_angle>3.1415</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.15</min>
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<max>12.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<!-- Noise parameters based on published spec for Hokuyo laser achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
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stddev of 0.01m will put 99.7% of samples within 0.03m of the true reading. -->
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
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<topicName>base_scan</topicName>
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<frameName>laser</frameName>
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</plugin>
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</sensor>
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</gazebo>
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<!-- OrbbecAstra -->
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<gazebo reference="OrbbecAstra_link">
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<sensor name="camera" type="depth">
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<update_rate>30</update_rate>
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<camera>
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<horizontal_fov>1.047198</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.6</near>
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<far>8</far>
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</clip>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
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<baseline>0.2</baseline>
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<alwaysOn>true</alwaysOn>
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<updateRate>1.0</updateRate>
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<cameraName>camera_ir</cameraName>
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<imageTopicName>/camera/color/image_raw</imageTopicName>
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<cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
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<depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
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<depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
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<pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
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<frameName>OrbbecAstra_link</frameName>
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<pointCloudCutoff>0.6</pointCloudCutoff>
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<pointCloudCutoffMax>8.0</pointCloudCutoffMax>
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<distortionK1>0.00000001</distortionK1>
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<distortionK2>0.00000001</distortionK2>
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<distortionK3>0.00000001</distortionK3>
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<distortionT1>0.00000001</distortionT1>
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<distortionT2>0.00000001</distortionT2>
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<CxPrime>0</CxPrime>
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<Cx>0</Cx>
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<Cy>0</Cy>
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<focalLength>0</focalLength>
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<hackBaseline>0</hackBaseline>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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548
Projet/pioneer_description/urdf/pioneer3dx.xacro
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Projet/pioneer_description/urdf/pioneer3dx.xacro
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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"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.01" ixy="0" ixz="0"
|
||||||
|
iyy="0.01" iyz="0" izz="0.01"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/swivel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="swivel"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/swivel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Center Wheel + Hubcap -->
|
||||||
|
<link name="center_hubcap">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||||
|
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="HubcapGrey"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="swivel_hubcap_joint" type="continuous">
|
||||||
|
<origin xyz="-0.026 0 -0.016" rpy="0 0 0"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<!--<anchor xyz="0 0 0"/>
|
||||||
|
<limit effort="1000" velocity="1000" k_velocity="0" />
|
||||||
|
<joint_properties damping="0.0" friction="0.0" />-->
|
||||||
|
<parent link="swivel"/>
|
||||||
|
<child link="center_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="center_wheel">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||||
|
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_wheel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="WheelBlack"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/center_wheel.stl"/>
|
||||||
|
<!--<cylinder radius="0.0375" length="0.03"/>-->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="center_wheel_joint" type="fixed">
|
||||||
|
<origin xyz="-0.0035 0 -0.001" rpy="0 0 0"/>
|
||||||
|
<parent link="center_wheel"/>
|
||||||
|
<child link="center_hubcap"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Left Wheel -->
|
||||||
|
<joint name="base_left_wheel_joint" type="continuous">
|
||||||
|
<origin xyz="0 0.155 0.093" rpy="0 0 0"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<!--<anchor xyz="0 0 0"/>
|
||||||
|
<limit effort="1000" velocity="1000" k_velocity="0" />
|
||||||
|
<joint_properties damping="0.0" friction="0.0" />-->
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="left_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="left_wheel">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||||
|
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/left_wheel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="WheelBlack"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/left_wheel.stl"/>
|
||||||
|
<!--<cylinder radius="0.092" length="0.04"/>-->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="left_wheel_hub_joint" type="fixed">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<parent link="left_wheel"/>
|
||||||
|
<child link="left_hub"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="left_hub">
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/left_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="HubcapYellow"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/left_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Right Wheel -->
|
||||||
|
<joint name="base_right_wheel_joint" type="continuous">
|
||||||
|
<origin xyz="0 -0.155 0.093" rpy="0 0 0"/>
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<!--<anchor xyz="0 0 0"/>
|
||||||
|
<limit effort="1000" velocity="1000" k_velocity="0" />
|
||||||
|
<joint_properties damping="0.0" friction="0.0" />-->
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="right_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="right_wheel">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983"
|
||||||
|
iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/right_wheel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="WheelBlack"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/right_wheel.stl"/>
|
||||||
|
<!--<cylinder radius="0.092" length="0.04"/>-->
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="right_wheel_hub_joint" type="fixed">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<parent link="right_wheel"/>
|
||||||
|
<child link="right_hub"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="right_hub">
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/right_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="HubcapYellow"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/right_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Front + Back Sonar -->
|
||||||
|
<link name="front_sonar">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.0001"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1" ixy="0" ixz="0"
|
||||||
|
iyy="1" iyz="0" izz="1"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/front_sonar.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="SonarYellow"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/front_sonar.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_front_joint" type="fixed">
|
||||||
|
<origin xyz="-0.198 0 0.208" rpy="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="front_sonar"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="back_sonar">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.0001"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1" ixy="0" ixz="0"
|
||||||
|
iyy="1" iyz="0" izz="1"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="back_sonar_vis">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/back_sonar.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="SonarYellow"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/back_sonar.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_back_joint" type="fixed">
|
||||||
|
<origin xyz="0.109 0 0.209" rpy="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="back_sonar"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- pilier -->
|
||||||
|
<joint name="pilier_joint" type="fixed">
|
||||||
|
<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>
|
||||||
111
Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro
Normal file
111
Projet/pioneer_description/urdf/pioneer3dx_wheel.xacro
Normal file
|
|
@ -0,0 +1,111 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<robot
|
||||||
|
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||||
|
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||||
|
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||||
|
xmlns:xacro="http://ros.org/wiki/xacro"
|
||||||
|
>
|
||||||
|
|
||||||
|
<!--<xacro:include filename="$(find pioneer_description)/defs/materials.xacro"/>-->
|
||||||
|
|
||||||
|
<!-- Properties (Constants) -->
|
||||||
|
<xacro:property name="M_PI" value="3.14159"/>
|
||||||
|
|
||||||
|
<!-- Right/Left Hubcap + Wheel -->
|
||||||
|
<xacro:macro name="p3dx_wheel" params="suffix parent reflect">
|
||||||
|
<link name="p3dx_${suffix}_wheel">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.5"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="0" ixz="0"
|
||||||
|
iyy="0.015218160428" iyz="0" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/${suffix}_wheel.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="WheelBlack">
|
||||||
|
<color rgba="0.117 0.117 0.117 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="${-3.1415927/2} 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<!--<mesh filename="package://pioneer_description/meshes/p3dx_meshes/${suffix}_wheel.stl"/>-->
|
||||||
|
<cylinder radius="0.09" length="0.01"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_${suffix}_hubcap_joint" type="fixed">
|
||||||
|
<!--<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>-->
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
|
||||||
|
<parent link="p3dx_${suffix}_wheel"/>
|
||||||
|
<child link="p3dx_${suffix}_hubcap"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="p3dx_${suffix}_hubcap">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.012411765597" ixy="0" ixz="0"
|
||||||
|
iyy="0.015218160428" iyz="0" izz="0.011763977943"/>
|
||||||
|
</inertial>
|
||||||
|
<visual name="base_visual">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry name="pioneer_geom">
|
||||||
|
<mesh filename="package://pioneer_description/meshes/p3dx_meshes/${suffix}_hubcap.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="HubcapYellow">
|
||||||
|
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0 0 0"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<transmission type="pr2_mechanism_model/SimpleTransmission" name="${parent}_${suffix}_wheel_trans">
|
||||||
|
<actuator name="base_${suffix}_wheel_motor" />
|
||||||
|
<joint name="base_${suffix}_wheel_joint" />
|
||||||
|
<mechanicalReduction>${reflect * 624/35 * 80/19}</mechanicalReduction>
|
||||||
|
</transmission>
|
||||||
|
|
||||||
|
<joint name="base_${suffix}_wheel_joint" type="continuous">
|
||||||
|
<axis xyz="0 1 0"/>
|
||||||
|
<anchor xyz="0 0 0"/>
|
||||||
|
<limit effort="100" velocity="100" />
|
||||||
|
<joint_properties damping="0.0" friction="0.0" />
|
||||||
|
<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="p3dx_${suffix}_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<gazebo reference="p3dx_${suffix}_hubcap">
|
||||||
|
<material value="Gazebo/Yellow"/>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
|
||||||
|
<gazebo reference="p3dx_${suffix}_wheel">
|
||||||
|
<material value="Gazebo/Black"/>
|
||||||
|
<elem key="mu1" value="0.5" />
|
||||||
|
<elem key="mu2" value="50.0" />
|
||||||
|
<elem key="kp" value="100000000.0" />
|
||||||
|
<elem key="kd" value="1.0" />
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
|
||||||
|
</robot>
|
||||||
|
|
||||||
Loading…
Reference in a new issue