111 lines
3.3 KiB
XML
111 lines
3.3 KiB
XML
<?xml version="1.0"?>
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<robot
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xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
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xmlns:xacro="http://ros.org/wiki/xacro"
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>
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<!--<xacro:include filename="$(find pioneer_description)/defs/materials.xacro"/>-->
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<!-- Properties (Constants) -->
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<xacro:property name="M_PI" value="3.14159"/>
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<!-- Right/Left Hubcap + Wheel -->
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<xacro:macro name="p3dx_wheel" params="suffix parent reflect">
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<link name="p3dx_${suffix}_wheel">
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<inertial>
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<mass value="0.5"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.012411765597" ixy="0" ixz="0"
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iyy="0.015218160428" iyz="0" 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/${suffix}_wheel.stl"/>
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</geometry>
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<material name="WheelBlack">
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<color rgba="0.117 0.117 0.117 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="${-3.1415927/2} 0 0"/>
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<geometry>
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<!--<mesh filename="package://pioneer_description/meshes/p3dx_meshes/${suffix}_wheel.stl"/>-->
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<cylinder radius="0.09" length="0.01"/>
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</geometry>
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</collision>
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</link>
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<joint name="base_${suffix}_hubcap_joint" type="fixed">
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<!--<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>-->
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="p3dx_${suffix}_wheel"/>
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<child link="p3dx_${suffix}_hubcap"/>
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</joint>
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<link name="p3dx_${suffix}_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" ixz="0"
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iyy="0.015218160428" iyz="0" 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/${suffix}_hubcap.stl"/>
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</geometry>
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<material name="HubcapYellow">
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<color rgba="1.0 0.811 0.151 1.0"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="0 0 0"/>
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</geometry>
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</collision>
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</link>
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<transmission type="pr2_mechanism_model/SimpleTransmission" name="${parent}_${suffix}_wheel_trans">
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<actuator name="base_${suffix}_wheel_motor" />
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<joint name="base_${suffix}_wheel_joint" />
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<mechanicalReduction>${reflect * 624/35 * 80/19}</mechanicalReduction>
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</transmission>
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<joint name="base_${suffix}_wheel_joint" type="continuous">
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<axis xyz="0 1 0"/>
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<anchor xyz="0 0 0"/>
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<limit effort="100" velocity="100" />
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<joint_properties damping="0.0" friction="0.0" />
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<origin xyz="0 ${reflect*0.158} 0.091" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="p3dx_${suffix}_wheel"/>
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</joint>
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<gazebo reference="p3dx_${suffix}_hubcap">
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<material value="Gazebo/Yellow"/>
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</gazebo>
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<gazebo reference="p3dx_${suffix}_wheel">
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<material value="Gazebo/Black"/>
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<elem key="mu1" value="0.5" />
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<elem key="mu2" value="50.0" />
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<elem key="kp" value="100000000.0" />
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<elem key="kd" value="1.0" />
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</gazebo>
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</xacro:macro>
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</robot>
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