SHERPA/sherpa_ros2_ws
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sim with small drift

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This commit is contained in:
Timo Schneider
2025-04-25 14:03:44 +02:00
parent 2b450a6d86
commit 694a120dfd
7 changed files with 183 additions and 23 deletions
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82
src/sherpa/urdf/sherpa.xacro
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@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sherpa">
<gazebo>
<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system.so">
<parameters>$(find sherpa)/config/mecanum_controller.yaml</parameters>
<parameters>$(find sherpa)/config/ackermann_controller.yaml</parameters>
</plugin>
</gazebo>
@@ -21,34 +21,66 @@
</link>
<xacro:include filename="components/imu.xacro"/>
<xacro:include filename="components/mecanum_wheel.xacro"/>
<xacro:include filename="components/wheel.xacro"/>
<xacro:include filename="components/ouster_lidar.xacro"/>
<xacro:imu name="imu" parent="base" xyz="0 0 0.156" rpy="0 0 0" frequency="300"/>
<xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.15" rpy="0 0 0" model="vlp16" frequency="10" topic="/points"/>
<xacro:mecanum_wheel name="wheel_fr" parent="base" xyz=" 0.31 -0.31 0" rpy="0 0 0" direction="r" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_fl" parent="base" xyz=" 0.31 0.31 0" rpy="0 0 0" direction="l" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_br" parent="base" xyz="-0.31 -0.31 0" rpy="0 0 0" direction="l" radius="0.1" mass="10"/>
<xacro:mecanum_wheel name="wheel_bl" parent="base" xyz="-0.31 0.31 0" rpy="0 0 0" direction="r" radius="0.1" mass="10"/>
<link name="steer_fl_link">
<inertial>
<mass value="0.1"/>
<inertia
ixx="0.0"
ixy="0.0"
ixz="0.0"
iyy="0.0"
iyz="0.0"
izz="0.0"
/>
</inertial>
</link>
<link name="steer_fr_link">
<inertial>
<mass value="0.1"/>
<inertia
ixx="0.0"
ixy="0.0"
ixz="0.0"
iyy="0.0"
iyz="0.0"
izz="0.0"
/>
</inertial>
</link>
<xacro:wheel name="wheel_fl" parent="steer_fl" xyz="0 0.05 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
<xacro:wheel name="wheel_fr" parent="steer_fr" xyz="0 -0.05 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
<xacro:wheel name="wheel_bl" parent="base" xyz="-0.3 0.25 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
<xacro:wheel name="wheel_br" parent="base" xyz="-0.3 -0.25 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
<joint name="steer_fl_joint" type="revolute">
<parent link="base_link"/>
<child link="steer_fl_link"/>
<origin xyz="0.3 0.20 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit upper="0.3" lower="-0.3" effort="-1" velocity="-1"/>
</joint>
<joint name="steer_fr_joint" type="revolute">
<parent link="base_link"/>
<child link="steer_fr_link"/>
<origin xyz="0.3 -0.20 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit upper="0.3" lower="-0.3" effort="-1" velocity="-1"/>
</joint>
<ros2_control name="SherpaSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="wheel_fl_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="wheel_fr_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="wheel_bl_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
@@ -60,5 +92,15 @@
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
<joint name="steer_fl_joint">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
<joint name="steer_fr_joint">
<command_interface name="position"/>
<state_interface name="position"/>
</joint>
</ros2_control>
</robot>