Skip to content

Commit 1d32988

Browse files
javizqhjavizqh
authored
Merge branch 'humble-devel' into test-replace-sdf
2 parents 29907b9 + 753eead commit 1d32988

31 files changed

Lines changed: 3666 additions & 220 deletions

File tree

‎CustomRobots/rover_4wd_description/urdf/rover_4wd_noisy_high.urdf‎

Lines changed: 226 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,226 @@
1+
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="rover_4wd">
2+
3+
<xacro:property name="wheel_z_offset" value="0.020" />
4+
<xacro:property name="wheel_x_offset" value="0.145" />
5+
<xacro:property name="front_flipper_x_offset" value="-0.0035" />
6+
<xacro:property name="wheel_y_offset" value="0.18" />
7+
<xacro:property name="track_y_offset" value="0.11" />
8+
<xacro:property name="wheel_mass" value="1.25" />
9+
<xacro:property name="chassis_mass" value="4.53592" />
10+
11+
<xacro:property name="payload_z_offset" value="0.096" />
12+
<xacro:include filename="$(find custom_robots)/urdf/accessories/rover_dev_payload.urdf" />
13+
<xacro:include filename="$(find custom_robots)/urdf/accessories/rplidar_s2.urdf" />
14+
<xacro:include filename="$(find custom_robots)/urdf/accessories/imu.urdf" />
15+
16+
<link name="base_link" />
17+
18+
<link name="chassis_link">
19+
<visual>
20+
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
21+
<geometry>
22+
<mesh filename="file://$(find custom_robots)/meshes/flipper_chassis.dae"/>
23+
</geometry>
24+
</visual>
25+
26+
<visual>
27+
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
28+
<geometry>
29+
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
30+
</geometry>
31+
</visual>
32+
<collision>
33+
<origin xyz="0 ${track_y_offset} 0" rpy="1.57 3.1415 0" />
34+
<geometry>
35+
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
36+
</geometry>
37+
</collision>
38+
39+
<visual>
40+
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
41+
<geometry>
42+
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
43+
</geometry>
44+
</visual>
45+
<collision>
46+
<origin xyz="0 ${-track_y_offset} 0" rpy="1.57 3.1415 0" />
47+
<geometry>
48+
<mesh filename="file://$(find custom_robots)/meshes/flipper_track.dae"/>
49+
</geometry>
50+
</collision>
51+
52+
<collision>
53+
<origin xyz="0 0 0" rpy="1.57 -0 1.57" />
54+
<geometry>
55+
<mesh filename="file://$(find custom_robots)/meshes/flipper_chassis.dae"/>
56+
</geometry>
57+
</collision>
58+
59+
<inertial>
60+
<origin xyz="0 0 0" rpy="0 0 0"/>
61+
<mass value="${chassis_mass}" />
62+
<inertia ixx="0.028064" ixy="0.0" ixz="0.0" iyy="0.08226" iyz="0.0" izz="0.10258" />
63+
</inertial>
64+
</link>
65+
66+
<joint name="base_to_chassis" type="fixed">
67+
<parent link="base_link"/>
68+
<child link="chassis_link"/>
69+
<origin xyz="0 0 0.125"/>
70+
</joint>
71+
72+
<link name="fr_wheel_link">
73+
<visual>
74+
<origin xyz="0 0 0" rpy="-1.57 0 0" />
75+
<geometry>
76+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
77+
</geometry>
78+
</visual>
79+
<collision>
80+
<origin xyz="0 0 0" rpy="-1.57 0 0" />
81+
<geometry>
82+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
83+
</geometry>
84+
</collision>
85+
<inertial>
86+
<origin xyz="0 0 0" rpy="0 0 0" />
87+
<mass value="${wheel_mass}" />
88+
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
89+
</inertial>
90+
</link>
91+
<joint name="fr_wheel_to_chassis" type="continuous">
92+
<parent link="chassis_link"/>
93+
<child link="fr_wheel_link"/>
94+
<axis xyz="0 1 0"/>
95+
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${-wheel_y_offset} 0" rpy="0 0 0"/>
96+
</joint>
97+
98+
<link name="fl_wheel_link">
99+
<visual>
100+
<origin xyz="0 0 0" rpy="1.57 0 0" />
101+
<geometry>
102+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
103+
</geometry>
104+
</visual>
105+
<collision>
106+
<origin xyz="0 0 0" rpy="1.57 0 0" />
107+
<geometry>
108+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
109+
</geometry>
110+
</collision>
111+
<inertial>
112+
<origin xyz="0 0 0" rpy="0 0 0" />
113+
<mass value="${wheel_mass}" />
114+
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
115+
</inertial>
116+
</link>
117+
<joint name="fl_wheel_to_chassis" type="continuous">
118+
<parent link="chassis_link"/>
119+
<child link="fl_wheel_link"/>
120+
<axis xyz="0 1 0"/>
121+
<origin xyz="${wheel_x_offset + front_flipper_x_offset} ${wheel_y_offset} 0" rpy="0 0 0"/>
122+
</joint>
123+
124+
<link name="rr_wheel_link">
125+
<visual>
126+
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
127+
<geometry>
128+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
129+
</geometry>
130+
</visual>
131+
<collision>
132+
<origin xyz="0 0 0" rpy="1.57 0 3.1415" />
133+
<geometry>
134+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
135+
</geometry>
136+
</collision>
137+
<inertial>
138+
<origin xyz="0 0 0" rpy="0 0 0" />
139+
<mass value="${wheel_mass}" />
140+
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
141+
</inertial>
142+
</link>
143+
<joint name="rr_wheel_to_chassis" type="continuous">
144+
<parent link="chassis_link"/>
145+
<child link="rr_wheel_link"/>
146+
<axis xyz="0 1 0"/>
147+
<origin xyz="${-wheel_x_offset} ${-wheel_y_offset} 0"/>
148+
</joint>
149+
150+
<link name="rl_wheel_link">
151+
<visual>
152+
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
153+
<geometry>
154+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
155+
</geometry>
156+
</visual>
157+
<collision>
158+
<origin xyz="0 0 0" rpy="-1.57 0 3.1415" />
159+
<geometry>
160+
<mesh filename="file://$(find custom_robots)/meshes/pro_tire.dae"/>
161+
</geometry>
162+
</collision>
163+
<inertial>
164+
<origin xyz="0 0 0" rpy="0 0 0" />
165+
<mass value="${wheel_mass}" />
166+
<inertia ixx="0.005645" ixy="0.0" ixz="0.0" iyy="0.01008" iyz="0.0" izz="0.005645"/>
167+
</inertial>
168+
</link>
169+
<joint name="rl_wheel_to_chassis" type="continuous">
170+
<parent link="chassis_link"/>
171+
<child link="rl_wheel_link"/>
172+
<axis xyz="0 1 0"/>
173+
<origin xyz="${-wheel_x_offset} ${wheel_y_offset} 0"/>
174+
</joint>
175+
176+
<gazebo>
177+
<plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">
178+
<num_wheel_pairs>2</num_wheel_pairs>
179+
<left_joint>rl_wheel_to_chassis</left_joint>
180+
<left_joint>fl_wheel_to_chassis</left_joint>
181+
<right_joint>rr_wheel_to_chassis</right_joint>
182+
<right_joint>fr_wheel_to_chassis</right_joint>
183+
<wheel_separation>0.24</wheel_separation>
184+
<wheel_radius>0.122</wheel_radius>
185+
<max_linear_acceleration>0.5</max_linear_acceleration>
186+
<min_linear_acceleration>-0.5</min_linear_acceleration>
187+
<max_angular_acceleration>0.8</max_angular_acceleration>
188+
<min_angular_acceleration>-0.8</min_angular_acceleration>
189+
<frame_id>odom</frame_id>
190+
<child_frame_id>base_link</child_frame_id>
191+
<topic>/cmd_vel</topic>
192+
<odom_topic>/odometry/wheels</odom_topic>
193+
<tf_topic>/tf_gazebo</tf_topic>
194+
</plugin>
195+
196+
<plugin name="gz::sim::systems::JointStatePublisher" filename="gz-sim-joint-state-publisher-system">
197+
<topic>/joint_states</topic>
198+
</plugin>
199+
200+
<plugin name="gz::sim::systems::OdometryPublisher" filename="gz-sim-odometry-publisher-system">
201+
<odom_frame>odom</odom_frame>
202+
<robot_base_frame>base_link</robot_base_frame>
203+
<odom_topic>/odom</odom_topic>
204+
<dimensions>3</dimensions>
205+
</plugin>
206+
207+
<plugin filename="libNoisyOdometryPlugin.so" name="custom_plugins::NoisyOdometryPlugin">
208+
<ros_topic>/odom</ros_topic>
209+
<gz_cmd_vel_topic>/cmd_vel</gz_cmd_vel_topic>
210+
<frame_id>odom</frame_id>
211+
<child_frame_id>base_link</child_frame_id>
212+
<alpha1>0.005</alpha1>
213+
<alpha2>0.005</alpha2>
214+
<alpha3>0.003</alpha3>
215+
<alpha4>0.003</alpha4>
216+
</plugin>
217+
</gazebo>
218+
219+
<plugin filename="gz-sim-pose-publisher-system" name="gz::sim::systems::PosePublisher">
220+
<publish_model_pose>true</publish_model_pose>
221+
<publish_nested_model>true</publish_nested_model>
222+
<publish_nested_model_pose>true</publish_nested_model_pose>
223+
<use_pose_vector_msg>true</use_pose_vector_msg>
224+
</plugin>
225+
226+
</robot>

0 commit comments

Comments
 (0)