Skip to content

Commit 62dad51

Browse files
javizqhjavizqh
committed
Add turtlebot3 base in urdf
1 parent a8e1cb7 commit 62dad51

5 files changed

Lines changed: 556 additions & 5 deletions

File tree

‎CustomRobots/CMakeLists.txt‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -103,6 +103,10 @@ install(
103103
Turtlebot2/params
104104
Turtlebot2/launch
105105

106+
turtlebot3/model
107+
turtlebot3/params
108+
turtlebot3/launch
109+
106110
logistic_holonomic_robot/models
107111
logistic_holonomic_robot/params
108112
logistic_holonomic_robot/launch
@@ -139,9 +143,7 @@ install(
139143
3d_reconstruction/models
140144
3d_reconstruction/params
141145
marker_visual_loc/models
142-
turtlebot3/models
143146
turtlebot3/urdf
144-
turtlebot3/params
145147
laser_mapping/models
146148
restaurant/models
147149
pick_place/models

‎CustomRobots/turtlebot3/launch/turtlebot3.launch.py‎

Lines changed: 5 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,7 @@ def launch_setup(context):
1818
P = LaunchConfiguration("P")
1919
Y = LaunchConfiguration("Y")
2020
gz_sensor = LaunchConfiguration("sensor")
21+
gz_noise = LaunchConfiguration("noise")
2122

2223
package_dir = get_package_share_directory("custom_robots")
2324

@@ -41,7 +42,7 @@ def launch_setup(context):
4142
# xacro_file,
4243
# mappings={
4344
# "camera": "true" if sensor == "camera" else "false",
44-
# "stereo": "true" if sensor == "stereo" else "false",
45+
# "noise_level": gz_noise.perform(context),
4546
# },
4647
# ).toxml()
4748

@@ -98,7 +99,7 @@ def launch_setup(context):
9899
nodes_to_start.append(gz_ros2_bridge)
99100

100101
# Sensor deppending on sensor arguments
101-
if True:
102+
if sensor == "camera":
102103
gz_ros2_image_bridge = Node(
103104
package="ros_gz_image",
104105
executable="image_bridge",
@@ -132,7 +133,8 @@ def generate_launch_description():
132133
declared_arguments.append(DeclareLaunchArgument("R", default_value="0"))
133134
declared_arguments.append(DeclareLaunchArgument("P", default_value="0"))
134135
declared_arguments.append(DeclareLaunchArgument("Y", default_value="0"))
135-
declared_arguments.append(DeclareLaunchArgument("sensor", default_value="stereo"))
136+
declared_arguments.append(DeclareLaunchArgument("sensor", default_value="camera"))
137+
declared_arguments.append(DeclareLaunchArgument("noise", default_value="none"))
136138

137139
return LaunchDescription(
138140
declared_arguments + [OpaqueFunction(function=launch_setup)]

‎CustomRobots/turtlebot3/models/turtlebot3/turtlebot3.urdf.xacro‎

Lines changed: 43 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,43 @@
1+
<?xml version="1.0" ?>
2+
<robot name="turtlebot3"
3+
xmlns:xacro="http://ros.org/wiki/xacro">
4+
5+
<xacro:arg name="camera" default="true"/>
6+
<xacro:arg name="noise_level" default="none"/>
7+
<xacro:property name="noise_level" value="$(arg noise_level)"/>
8+
9+
<xacro:if value="${noise_level == 'low'}">
10+
<xacro:property name="a1" value="0.0005" />
11+
<xacro:property name="a2" value="0.0005" />
12+
<xacro:property name="a3" value="0.0002" />
13+
<xacro:property name="a4" value="0.0002" />
14+
</xacro:if>
15+
16+
<xacro:if value="${noise_level == 'med'}">
17+
<xacro:property name="a1" value="0.002" />
18+
<xacro:property name="a2" value="0.002" />
19+
<xacro:property name="a3" value="0.001" />
20+
<xacro:property name="a4" value="0.001" />
21+
</xacro:if>
22+
23+
<xacro:if value="${noise_level == 'high'}">
24+
<xacro:property name="a1" value="0.005" />
25+
<xacro:property name="a2" value="0.005" />
26+
<xacro:property name="a3" value="0.003" />
27+
<xacro:property name="a4" value="0.003" />
28+
</xacro:if>
29+
30+
<xacro:include filename="$(find custom_robots)/models/turtlebot3/turtlebot3_gz.urdf.xacro"/>
31+
<xacro:include filename="$(find custom_robots)/models/turtlebot3/turtlebot3_common.urdf.xacro"/>
32+
33+
<xacro:turtlebot3/>
34+
35+
<xacro:if value="$(arg camera)">
36+
<xacro:camera xyz="0.069 -0.047 0.107" rpy="0 0 0" name="camera_rgb" parent="camera_link" topic="turtlebot3/camera"/>
37+
<xacro:depth_camera xyz="0.074 -0.029 0.12" rpy="0 0 0" name="camera_depth" parent="base_link" topic="turtlebot3/camera"/>
38+
</xacro:if>
39+
40+
<xacro:unless value="${noise_level == 'none'}">
41+
<xacro:noise_odom topic="/turtlebot3/odom_noisy" vel_topic="/turtlebot3/cmd_vel" a1="${a1}" a2="${a2}" a3="${a3}" a4="${a4}"/>
42+
</xacro:unless>
43+
</robot>

‎CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_common.urdf.xacro‎

Lines changed: 247 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,247 @@
1+
<?xml version="1.0" ?>
2+
<robot xmlns:xacro="http://ros.org/wiki/xacro">
3+
<xacro:include filename="$(find custom_robots)/models/turtlebo3/turtlebo3_gz.urdf.xacro"/>
4+
5+
<xacro:macro name="turtlebot3">
6+
7+
<link name="base_footprint"></link>
8+
9+
<link name="base_link">
10+
<inertial>
11+
<mass value="1.373"/>
12+
<inertia ixx="4.2111447e-02" ixy="0" ixz="0" iyy="4.2111447e-02" iyz="0" izz="7.5254874e-02"/>
13+
</inertial>
14+
<collision>
15+
<origin rpy="0 0 0" xyz="-0.064 0 0.048"/>
16+
<geometry>
17+
<box size="0.265 0.265 0.089"/>
18+
</geometry>
19+
</collision>
20+
<visual >
21+
<origin rpy="0 0 0" xyz="-0.064 0 0"/>
22+
<geometry>
23+
<mesh filename="$(find custom_robots)/model/urtlebot3/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
24+
</geometry>
25+
<gazebo>
26+
<material>
27+
<ambient>1 1 1 1</ambient>
28+
<diffuse>1 1 1 1</diffuse>
29+
<specular>0.2 0.2 0.2 1</specular>
30+
<emissive>0 0 0 1</emissive>
31+
<script>
32+
<name>Gazebo/Grey</name>
33+
</script>
34+
</material>
35+
</gazebo>
36+
</visual>
37+
</link>
38+
39+
<link name="wheel_left_link">
40+
<inertial>
41+
<origin rpy="-1.57 0 0" xyz="0.0 0.144 0.023"/>
42+
<mass value="0.1"/>
43+
<inertia ixx="1.1175580e-05" ixy="0" ixz="0" iyy="1.1175580e-05" iyz="0" izz="2.0712558e-05"/>
44+
</inertial>
45+
<collision>
46+
<origin rpy="-1.57 0 0" xyz="0.0 0.144 0.023"/>
47+
<geometry>
48+
<cylinder radius="0.033" length="0.018"/>
49+
</geometry>
50+
<gazebo>
51+
<surface>
52+
<!-- This friction pamareter don't contain reliable data!! -->
53+
<friction>
54+
<ode>
55+
<mu>100000.0</mu>
56+
<mu2>100000.0</mu2>
57+
<fdir1>0 0 0</fdir1>
58+
<slip1>0.0</slip1>
59+
<slip2>0.0</slip2>
60+
</ode>
61+
</friction>
62+
<contact>
63+
<ode>
64+
<soft_cfm>0</soft_cfm>
65+
<soft_erp>0.2</soft_erp>
66+
<kp>1e+5</kp>
67+
<kd>1</kd>
68+
<max_vel>0.01</max_vel>
69+
<min_depth>0.001</min_depth>
70+
</ode>
71+
</contact>
72+
</surface>
73+
</gazebo>
74+
</collision>
75+
<visual >
76+
<origin rpy="0 0 0" xyz="0.0 0.144 0.023"/>
77+
<geometry>
78+
<mesh filename="$(find custom_robots)/model/urtlebot3/meshes/tire.dae" scale="0.001 0.001 0.001"/>
79+
</geometry>
80+
<gazebo>
81+
<material>
82+
<ambient>1 1 1 1</ambient>
83+
<diffuse>1 1 1 1</diffuse>
84+
<specular>0.2 0.2 0.2 1</specular>
85+
<emissive>0 0 0 1</emissive>
86+
</material>
87+
</gazebo>
88+
</visual>
89+
</link>
90+
91+
<link name="wheel_right_link">
92+
<inertial>
93+
<origin rpy="-1.57 0 0" xyz="0.0 -0.144 0.023"/>
94+
<mass value="0.1"/>
95+
<inertia ixx="1.1175580e-05" ixy="0" ixz="0" iyy="1.1175580e-05" iyz="0" izz="2.0712558e-05"/>
96+
</inertial>
97+
<collision>
98+
<origin rpy="-1.57 0 0" xyz="0.0 -0.144 0.023"/>
99+
<geometry>
100+
<cylinder radius="0.033" length="0.018"/>
101+
</geometry>
102+
<gazebo>
103+
<surface>
104+
<!-- This friction pamareter don't contain reliable data!! -->
105+
<friction>
106+
<ode>
107+
<mu>100000.0</mu>
108+
<mu2>100000.0</mu2>
109+
<fdir1>0 0 0</fdir1>
110+
<slip1>0.0</slip1>
111+
<slip2>0.0</slip2>
112+
</ode>
113+
</friction>
114+
<contact>
115+
<ode>
116+
<soft_cfm>0</soft_cfm>
117+
<soft_erp>0.2</soft_erp>
118+
<kp>1e+5</kp>
119+
<kd>1</kd>
120+
<max_vel>0.01</max_vel>
121+
<min_depth>0.001</min_depth>
122+
</ode>
123+
</contact>
124+
</surface>
125+
</gazebo>
126+
</collision>
127+
<visual >
128+
<origin rpy="0 0 0" xyz="0.0 -0.144 0.023"/>
129+
<geometry>
130+
<mesh filename="$(find custom_robots)/model/urtlebot3/meshes/tire.dae" scale="0.001 0.001 0.001"/>
131+
</geometry>
132+
<gazebo>
133+
<material>
134+
<ambient>1 1 1 1</ambient>
135+
<diffuse>1 1 1 1</diffuse>
136+
<specular>0.2 0.2 0.2 1</specular>
137+
<emissive>0 0 0 1</emissive>
138+
</material>
139+
</gazebo>
140+
</visual>
141+
</link>
142+
143+
<link name="caster_back_right_link">
144+
<origin rpy="-1.57 0 0" xyz="-0.177 -0.064 -0.004"/>
145+
<inertial>
146+
<mass value="0.001"/>
147+
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
148+
</inertial>
149+
<collision>
150+
<geometry>
151+
<sphere radius="0.005"/>
152+
</geometry>
153+
<gazebo>
154+
<surface>
155+
<contact>
156+
<ode>
157+
<soft_cfm>0</soft_cfm>
158+
<soft_erp>0.2</soft_erp>
159+
<kp>1e+5</kp>
160+
<kd>1</kd>
161+
<max_vel>0.01</max_vel>
162+
<min_depth>0.001</min_depth>
163+
</ode>
164+
</contact>
165+
</surface>
166+
</gazebo>
167+
</collision>
168+
</link>
169+
170+
<link name="caster_back_left_link">
171+
<origin rpy="-1.57 0 0" xyz="-0.177 0.064 -0.004"/>
172+
<inertial>
173+
<mass value="0.001"/>
174+
<inertia ixx="0.00001" ixy="0" ixz="0" iyy="0.00001" iyz="0" izz="0.00001"/>
175+
</inertial>
176+
<collision>
177+
<geometry>
178+
<sphere radius="0.005"/>
179+
</geometry>
180+
<gazebo>
181+
<surface>
182+
<contact>
183+
<ode>
184+
<soft_cfm>0</soft_cfm>
185+
<soft_erp>0.2</soft_erp>
186+
<kp>1e+5</kp>
187+
<kd>1</kd>
188+
<max_vel>0.01</max_vel>
189+
<min_depth>0.001</min_depth>
190+
</ode>
191+
</contact>
192+
</surface>
193+
</gazebo>
194+
</collision>
195+
</link>
196+
197+
<link name="camera_link"/>
198+
199+
<joint name="base_to_base_link" type="fixed">
200+
<parent link="base_footprint"/>
201+
<child link="base_link"/>
202+
<origin xyz="0 0 0.01" rpy="0 0 0"/>
203+
<axis xyz="0 0 1"/>
204+
</joint>
205+
206+
<joint name="camera_joint" type="fixed">
207+
<parent link="base_link"/>
208+
<child link="camera_link"/>
209+
<origin xyz="0.064 -0.065 0.094" rpy="0 0 0"/>
210+
<axis xyz="0 0 1"/>
211+
</joint>
212+
213+
<joint name="wheel_left_joint" type="continuous">
214+
<origin rpy="-1.57 0 0" xyz="0.0 0.144 0.023"/>
215+
<parent link="base_link"/>
216+
<child link="wheel_left_link"/>
217+
<axis xyz="0 0 1"/>
218+
<limit effort="20" velocity="100"/>
219+
</joint>
220+
221+
<joint name="wheel_right_joint" type="continuous">
222+
<origin rpy="-1.57 0 0" xyz="0.0 -0.144 0.023"/>
223+
<parent link="base_link"/>
224+
<child link="wheel_right_link"/>
225+
<axis xyz="0 0 1"/>
226+
<limit effort="20" velocity="100"/>
227+
</joint>
228+
229+
<!-- Ball joints -->
230+
<joint name="caster_back_right_joint" type="continuous">
231+
<parent link="base_link"/>
232+
<child link="caster_back_right_link"/>
233+
<limit effort="20" velocity="100"/>
234+
</joint>
235+
236+
<joint name="caster_back_left_joint" type="continuous">
237+
<parent link="base_link"/>
238+
<child link="caster_back_left_link"/>
239+
<limit effort="20" velocity="100"/>
240+
</joint>
241+
242+
<xacro:imu parent="imu_link" topic="turtlebot3/imu" xyz="-0.032 0 0.068" rpy="0 0 0"/>
243+
<xacro:lidar xyz="-0.064 0 0.121" rpy="0 0 0" name="lidar" parent="base_link" topic="turtlebot3/laser/scan"/>
244+
<xacro:velocity topic="turtlebot3/cmd_vel"/>
245+
<xacro:odom topic="/turtlebot3/odom" freq="50"/>
246+
</xacro:macro>
247+
</robot>

0 commit comments

Comments
 (0)