wip: deleted temp files
This commit is contained in:
1
.gitignore
vendored
1
.gitignore
vendored
@@ -3,3 +3,4 @@ build
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|||||||
install
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install
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||||||
log
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log
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shapes
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shapes
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src/sherpa/urdf/sherpa.urdf
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@@ -1,367 +0,0 @@
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|||||||
<?xml version="1.0" ?>
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||||||
<!--
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Gazebo Mecanum drive plugin demo
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Try sending commands:
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gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5, y: 0.5}"
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gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {y: 0.5}, angular: {z: 0.2}"
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-->
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<sdf version="1.6">
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<world name="mecanum_drive">
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<physics name="1ms" type="ignored">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.5 0.5 0.5 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<model name="ground_plane">
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<static>true</static>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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<surface>
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<friction>
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<ode>
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<mu>50</mu>
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</ode>
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</friction>
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</surface>
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</collision>
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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||||||
<material>
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<ambient>0.8 0.8 0.8 1</ambient>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>0.8 0.8 0.8 1</specular>
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</material>
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</visual>
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</link>
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</model>
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<model name='vehicle_blue' xmlns:gz="http://gazebosim.org/schema">
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<pose>0 2 0.325 0 -0 0</pose>
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<link name='chassis'>
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<pose>-0.151427 -0 0.175 0 -0 0</pose>
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<inertial>
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<mass>1.14395</mass>
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<inertia>
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<ixx>0.126164</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.416519</iyy>
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<iyz>0</iyz>
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<izz>0.481014</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<box>
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<size>2.01142 1 0.568726</size>
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</box>
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||||||
</geometry>
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||||||
<material>
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<ambient>0.5 0.5 1.0 1</ambient>
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<diffuse>0.5 0.5 1.0 1</diffuse>
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<specular>0.0 0.0 1.0 1</specular>
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</material>
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</visual>
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||||||
<collision name='collision'>
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<geometry>
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||||||
<box>
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<size>2.01142 1 0.568726</size>
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</box>
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</geometry>
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</collision>
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</link>
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<link name='front_left_wheel'>
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<pose>0.554283 0.625029 -0.025 -1.5707 0 0</pose>
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<inertial>
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<mass>2</mass>
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<inertia>
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<ixx>0.145833</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.145833</iyy>
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<iyz>0</iyz>
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<izz>0.125</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<pose>0 0 0 1.5707 0 0</pose>
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<geometry>
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<!-- scale mesh to radius == 0.3 -->
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<mesh>
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<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
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<scale>0.006 0.006 0.006</scale>
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</mesh>
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</geometry>
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<material>
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<ambient>0.2 0.2 0.2 1</ambient>
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<diffuse>0.2 0.2 0.2 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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</material>
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</visual>
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<collision name='collision'>
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<geometry>
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<sphere>
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<radius>0.3</radius>
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</sphere>
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||||||
</geometry>
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||||||
<surface>
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||||||
<friction>
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||||||
<ode>
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<mu>1.0</mu>
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<mu2>0.0</mu2>
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<fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
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</ode>
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</friction>
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</surface>
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</collision>
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</link>
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<link name='rear_left_wheel'>
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<pose>-0.957138 0.625029 -0.025 -1.5707 0 0</pose>
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<inertial>
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||||||
<mass>2</mass>
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||||||
<inertia>
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||||||
<ixx>0.145833</ixx>
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||||||
<ixy>0</ixy>
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||||||
<ixz>0</ixz>
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||||||
<iyy>0.145833</iyy>
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||||||
<iyz>0</iyz>
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<izz>0.125</izz>
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</inertia>
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</inertial>
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||||||
<visual name='visual'>
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<pose>0 0 0 1.5707 0 0</pose>
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||||||
<geometry>
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||||||
<!-- scale mesh to radius == 0.3 -->
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||||||
<mesh>
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||||||
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
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||||||
<scale>0.006 0.006 0.006</scale>
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||||||
</mesh>
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||||||
</geometry>
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||||||
<material>
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||||||
<ambient>0.2 0.2 0.2 1</ambient>
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||||||
<diffuse>0.2 0.2 0.2 1</diffuse>
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||||||
<specular>0.2 0.2 0.2 1</specular>
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||||||
</material>
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||||||
</visual>
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||||||
<collision name='collision'>
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||||||
<geometry>
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||||||
<sphere>
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||||||
<radius>0.3</radius>
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||||||
</sphere>
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||||||
</geometry>
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||||||
<surface>
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||||||
<friction>
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||||||
<ode>
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||||||
<mu>1.0</mu>
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||||||
<mu2>0.0</mu2>
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||||||
<fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
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||||||
</ode>
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||||||
</friction>
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||||||
</surface>
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||||||
</collision>
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||||||
</link>
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||||||
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||||||
<link name='front_right_wheel'>
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||||||
<pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
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||||||
<inertial>
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||||||
<mass>2</mass>
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||||||
<inertia>
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||||||
<ixx>0.145833</ixx>
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||||||
<ixy>0</ixy>
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||||||
<ixz>0</ixz>
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||||||
<iyy>0.145833</iyy>
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||||||
<iyz>0</iyz>
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||||||
<izz>0.125</izz>
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||||||
</inertia>
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||||||
</inertial>
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||||||
<visual name='visual'>
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||||||
<pose>0 0 0 1.5707 0 0</pose>
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||||||
<geometry>
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||||||
<!-- scale mesh to radius == 0.3 -->
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||||||
<mesh>
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||||||
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
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||||||
<scale>0.006 0.006 0.006</scale>
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||||||
</mesh>
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||||||
</geometry>
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||||||
<material>
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||||||
<ambient>0.2 0.2 0.2 1</ambient>
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||||||
<diffuse>0.2 0.2 0.2 1</diffuse>
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||||||
<specular>0.2 0.2 0.2 1</specular>
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||||||
</material>
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||||||
</visual>
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||||||
<collision name='collision'>
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||||||
<geometry>
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||||||
<sphere>
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||||||
<radius>0.3</radius>
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||||||
</sphere>
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||||||
</geometry>
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||||||
<surface>
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||||||
<friction>
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||||||
<ode>
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||||||
<mu>1.0</mu>
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||||||
<mu2>0.0</mu2>
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||||||
<fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
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||||||
</ode>
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||||||
</friction>
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||||||
</surface>
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||||||
</collision>
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||||||
</link>
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||||||
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||||||
<link name='rear_right_wheel'>
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||||||
<pose>-0.957138 -0.625029 -0.025 -1.5707 0 0</pose>
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||||||
<inertial>
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||||||
<mass>2</mass>
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||||||
<inertia>
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||||||
<ixx>0.145833</ixx>
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||||||
<ixy>0</ixy>
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||||||
<ixz>0</ixz>
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||||||
<iyy>0.145833</iyy>
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||||||
<iyz>0</iyz>
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||||||
<izz>0.125</izz>
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||||||
</inertia>
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||||||
</inertial>
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||||||
<visual name='visual'>
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||||||
<pose>0 0 0 1.5707 0 0</pose>
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||||||
<geometry>
|
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||||||
<!-- scale mesh to radius == 0.3 -->
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||||||
<mesh>
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||||||
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
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||||||
<scale>0.006 0.006 0.006</scale>
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||||||
</mesh>
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||||||
</geometry>
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||||||
<material>
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|
||||||
<ambient>0.2 0.2 0.2 1</ambient>
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|
||||||
<diffuse>0.2 0.2 0.2 1</diffuse>
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|
||||||
<specular>0.2 0.2 0.2 1</specular>
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|
||||||
</material>
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|
||||||
</visual>
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|
||||||
<collision name='collision'>
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|
||||||
<geometry>
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|
||||||
<sphere>
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|
||||||
<radius>0.3</radius>
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|
||||||
</sphere>
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|
||||||
</geometry>
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|
||||||
<surface>
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|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>1.0</mu>
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|
||||||
<mu2>0.0</mu2>
|
|
||||||
<fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
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|
||||||
</ode>
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|
||||||
</friction>
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|
||||||
</surface>
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|
||||||
</collision>
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|
||||||
</link>
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|
||||||
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|
||||||
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|
||||||
<joint name='front_left_wheel_joint' type='revolute'>
|
|
||||||
<parent>chassis</parent>
|
|
||||||
<child>front_left_wheel</child>
|
|
||||||
<axis>
|
|
||||||
<xyz>0 0 1</xyz>
|
|
||||||
<limit>
|
|
||||||
<lower>-1.79769e+308</lower>
|
|
||||||
<upper>1.79769e+308</upper>
|
|
||||||
</limit>
|
|
||||||
</axis>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<joint name='front_right_wheel_joint' type='revolute'>
|
|
||||||
<parent>chassis</parent>
|
|
||||||
<child>front_right_wheel</child>
|
|
||||||
<axis>
|
|
||||||
<xyz>0 0 1</xyz>
|
|
||||||
<limit>
|
|
||||||
<lower>-1.79769e+308</lower>
|
|
||||||
<upper>1.79769e+308</upper>
|
|
||||||
</limit>
|
|
||||||
</axis>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<joint name='rear_left_wheel_joint' type='revolute'>
|
|
||||||
<parent>chassis</parent>
|
|
||||||
<child>rear_left_wheel</child>
|
|
||||||
<axis>
|
|
||||||
<xyz>0 0 1</xyz>
|
|
||||||
<limit>
|
|
||||||
<lower>-1.79769e+308</lower>
|
|
||||||
<upper>1.79769e+308</upper>
|
|
||||||
</limit>
|
|
||||||
</axis>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<joint name='rear_right_wheel_joint' type='revolute'>
|
|
||||||
<parent>chassis</parent>
|
|
||||||
<child>rear_right_wheel</child>
|
|
||||||
<axis>
|
|
||||||
<xyz>0 0 1</xyz>
|
|
||||||
<limit>
|
|
||||||
<lower>-1.79769e+308</lower>
|
|
||||||
<upper>1.79769e+308</upper>
|
|
||||||
</limit>
|
|
||||||
</axis>
|
|
||||||
</joint>
|
|
||||||
|
|
||||||
<plugin
|
|
||||||
filename="gz-sim-mecanum-drive-system"
|
|
||||||
name="gz::sim::systems::MecanumDrive">
|
|
||||||
<front_left_joint>front_left_wheel_joint</front_left_joint>
|
|
||||||
<front_right_joint>front_right_wheel_joint</front_right_joint>
|
|
||||||
<back_left_joint>rear_left_wheel_joint</back_left_joint>
|
|
||||||
<back_right_joint>rear_right_wheel_joint</back_right_joint>
|
|
||||||
<wheel_separation>1.25</wheel_separation>
|
|
||||||
<wheelbase>1.511</wheelbase>
|
|
||||||
<wheel_radius>0.3</wheel_radius>
|
|
||||||
<min_acceleration>-5</min_acceleration>
|
|
||||||
<max_acceleration>5</max_acceleration>
|
|
||||||
</plugin>
|
|
||||||
|
|
||||||
</model>
|
|
||||||
|
|
||||||
</world>
|
|
||||||
</sdf>
|
|
||||||
@@ -1,270 +0,0 @@
|
|||||||
<?xml version="1.0" ?>
|
|
||||||
<!-- =================================================================================== -->
|
|
||||||
<!-- | This document was autogenerated by xacro from /ros2_ws/src/sherpa/urdf/sherpa.xacro | -->
|
|
||||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
|
||||||
<!-- =================================================================================== -->
|
|
||||||
<robot name="sherpa" xmlns:gz="http://gazebosim.org">
|
|
||||||
<link name="base_link">
|
|
||||||
<inertial>
|
|
||||||
<mass value="15"/>
|
|
||||||
<inertia ixx="0.001828" ixy="0.0" ixz="0.0" iyy="0.001828" iyz="0.0" izz="0.003528"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<material name="mecanum_wheel_material">
|
|
||||||
<ambient>0.2 0.2 0.2 1</ambient>
|
|
||||||
<diffuse>0.2 0.2 0.2 1</diffuse>
|
|
||||||
<specular>0.2 0.2 0.2 1</specular>
|
|
||||||
<emissive>0 0 0 0</emissive>
|
|
||||||
<color rgba="0.2 0.2 0.2 1"/>
|
|
||||||
</material>
|
|
||||||
<link name="lidar_link">
|
|
||||||
<visual name="base">
|
|
||||||
<pose>0 0 -0.035 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.0015" radius="0.06"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<collision name="base_collision">
|
|
||||||
<pose>0 0 -0.035 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.01" radius="0.06"/>
|
|
||||||
</geometry>
|
|
||||||
</collision>
|
|
||||||
<visual name="suport_1">
|
|
||||||
<pose>-0.035 0.035 -0.08 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.09" radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<visual name="suport_2">
|
|
||||||
<pose>-0.035 -0.035 -0.08 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.09" radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<visual name="suport_3">
|
|
||||||
<pose>0.0495 0 -0.08 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<cylinder length="0.09" radius="0.005"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<!-- Bottom cylinder of Ouster/Velodyne 3D Lidar -->
|
|
||||||
<visual name="bot_cylinder">
|
|
||||||
<pose>0 0 -0.035 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://sherpa/urdf/meshes/VLP16_base_1.dae" scale="1 1 1"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<!-- Top cylinder of Ouster/Velodyne 3D Lidar -->
|
|
||||||
<visual name="top_cylinder">
|
|
||||||
<pose>0 0 -0.035 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://sherpa/urdf/meshes/VLP16_base_2.dae" scale="1 1 1"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<!-- Main cylinder of Ouster/Velodyne 3D Lidar -->
|
|
||||||
<visual name="main_cylinder">
|
|
||||||
<pose>0 0 -0.035 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="package://sherpa/urdf/meshes/VLP16_scan.dae" scale="1 1 1"/>
|
|
||||||
</geometry>
|
|
||||||
</visual>
|
|
||||||
<inertial>
|
|
||||||
<mass value="0.83"/>
|
|
||||||
<inertia ixx="0.001828" ixy="0.0" ixz="0.0" iyy="0.001828" iyz="0.0" izz="0.003528"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="lidar_joint" type="fixed">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="lidar_link"/>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0.15"/>
|
|
||||||
</joint>
|
|
||||||
<gazebo reference="lidar_link">
|
|
||||||
<sensor name="lidar" type="gpu_lidar">
|
|
||||||
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
|
|
||||||
<render_engine>ogre2</render_engine>
|
|
||||||
</plugin>
|
|
||||||
<update_rate>10</update_rate>
|
|
||||||
<topic>/velodyne_points</topic>
|
|
||||||
<gz_frame_id>lidar_link</gz_frame_id>
|
|
||||||
<lidar>
|
|
||||||
<scan>
|
|
||||||
<horizontal>
|
|
||||||
<samples>1800.0</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-3.141592654</min_angle>
|
|
||||||
<max_angle>3.141592654</max_angle>
|
|
||||||
</horizontal>
|
|
||||||
<vertical>
|
|
||||||
<samples>16</samples>
|
|
||||||
<resolution>1</resolution>
|
|
||||||
<min_angle>-0.261799389</min_angle>
|
|
||||||
<max_angle>0.261799389</max_angle>
|
|
||||||
</vertical>
|
|
||||||
</scan>
|
|
||||||
<range>
|
|
||||||
<min>0.01</min>
|
|
||||||
<max>100.0</max>
|
|
||||||
<resolution>0.03</resolution>
|
|
||||||
</range>
|
|
||||||
</lidar>
|
|
||||||
</sensor>
|
|
||||||
</gazebo>
|
|
||||||
<link name="wheel_fr_link">
|
|
||||||
<inertial>
|
|
||||||
<mass value="0.25"/>
|
|
||||||
<inertia ixx="0.0002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0001"/>
|
|
||||||
</inertial>
|
|
||||||
<visual name="visual">
|
|
||||||
<pose>0 0 0 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL" scale="0.0008 0.0008 0.0008"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="mecanum_wheel_material"/>
|
|
||||||
</visual>
|
|
||||||
<collision name="collision">
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.04"/>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>1.2</mu>
|
|
||||||
<mu2>0</mu2>
|
|
||||||
<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
|
|
||||||
</ode>
|
|
||||||
</friction>
|
|
||||||
</surface>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="wheel_fr_joint" type="continuous">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="wheel_fr_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="100000" velocity="5"/>
|
|
||||||
<origin rpy="0 0 0" xyz=" 0.11 -0.11 0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="wheel_fl_link">
|
|
||||||
<inertial>
|
|
||||||
<mass value="0.25"/>
|
|
||||||
<inertia ixx="0.0002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0001"/>
|
|
||||||
</inertial>
|
|
||||||
<visual name="visual">
|
|
||||||
<pose>0 0 0 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL" scale="0.0008 0.0008 0.0008"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="mecanum_wheel_material"/>
|
|
||||||
</visual>
|
|
||||||
<collision name="collision">
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.04"/>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>1.2</mu>
|
|
||||||
<mu2>0</mu2>
|
|
||||||
<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
|
|
||||||
</ode>
|
|
||||||
</friction>
|
|
||||||
</surface>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="wheel_fl_joint" type="continuous">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="wheel_fl_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="100000" velocity="5"/>
|
|
||||||
<origin rpy="0 0 0" xyz=" 0.11 0.11 0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="wheel_br_link">
|
|
||||||
<inertial>
|
|
||||||
<mass value="0.25"/>
|
|
||||||
<inertia ixx="0.0002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0001"/>
|
|
||||||
</inertial>
|
|
||||||
<visual name="visual">
|
|
||||||
<pose>0 0 0 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL" scale="0.0008 0.0008 0.0008"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="mecanum_wheel_material"/>
|
|
||||||
</visual>
|
|
||||||
<collision name="collision">
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.04"/>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>1.2</mu>
|
|
||||||
<mu2>0</mu2>
|
|
||||||
<fdir1 gz:expressed_in="base_link">1 -1 0</fdir1>
|
|
||||||
</ode>
|
|
||||||
</friction>
|
|
||||||
</surface>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="wheel_br_joint" type="continuous">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="wheel_br_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="100000" velocity="5"/>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.11 -0.11 0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="wheel_bl_link">
|
|
||||||
<inertial>
|
|
||||||
<mass value="0.25"/>
|
|
||||||
<inertia ixx="0.0002" ixy="0.0" ixz="0.0" iyy="0.0002" iyz="0.0" izz="0.0001"/>
|
|
||||||
</inertial>
|
|
||||||
<visual name="visual">
|
|
||||||
<pose>0 0 0 0 0 0</pose>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL" scale="0.0008 0.0008 0.0008"/>
|
|
||||||
</geometry>
|
|
||||||
<material name="mecanum_wheel_material"/>
|
|
||||||
</visual>
|
|
||||||
<collision name="collision">
|
|
||||||
<geometry>
|
|
||||||
<sphere radius="0.04"/>
|
|
||||||
</geometry>
|
|
||||||
<surface>
|
|
||||||
<friction>
|
|
||||||
<ode>
|
|
||||||
<mu>1.2</mu>
|
|
||||||
<mu2>0</mu2>
|
|
||||||
<fdir1 gz:expressed_in="base_link">1 1 0</fdir1>
|
|
||||||
</ode>
|
|
||||||
</friction>
|
|
||||||
</surface>
|
|
||||||
</collision>
|
|
||||||
</link>
|
|
||||||
<joint name="wheel_bl_joint" type="continuous">
|
|
||||||
<parent link="base_link"/>
|
|
||||||
<child link="wheel_bl_link"/>
|
|
||||||
<axis xyz="0 1 0"/>
|
|
||||||
<limit effort="100000" velocity="5"/>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.11 0.11 0"/>
|
|
||||||
</joint>
|
|
||||||
<ros2_control name="SherpaSystem" type="system">
|
|
||||||
<hardware>
|
|
||||||
<plugin>ros2_control/GenericSystemInterface</plugin>
|
|
||||||
</hardware>
|
|
||||||
<joint name="wheel_fl_joint">
|
|
||||||
<command_interface name="velocity"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="wheel_fr_joint">
|
|
||||||
<command_interface name="velocity"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="wheel_bl_joint">
|
|
||||||
<command_interface name="velocity"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
</joint>
|
|
||||||
<joint name="wheel_br_joint">
|
|
||||||
<command_interface name="velocity"/>
|
|
||||||
<state_interface name="velocity"/>
|
|
||||||
</joint>
|
|
||||||
</ros2_control>
|
|
||||||
</robot>
|
|
||||||
Reference in New Issue
Block a user