SHERPA/sherpa_ros2_ws
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WIP: added sherpa

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This commit is contained in:
Timo Schneider
2025-04-06 21:49:38 +02:00
parent 1b7ccf22fc
commit e2de961537
21 changed files with 2385 additions and 0 deletions
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40
src/sherpa/urdf/sherpa.xacro Executable file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sherpa">
<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>
<xacro:include filename="components/mecanum_wheel.xacro"/>
<xacro:include filename="components/ouster_lidar.xacro"/>
<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=" 0.11 -0.11 0" rpy="0 0 0" direction="r" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_fl" parent="base" xyz=" 0.11 0.11 0" rpy="0 0 0" direction="l" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_br" parent="base" xyz="-0.11 -0.11 0" rpy="0 0 0" direction="l" radius="0.04" mass="0.25"/>
<xacro:mecanum_wheel name="wheel_bl" parent="base" xyz="-0.11 0.11 0" rpy="0 0 0" direction="r" radius="0.04" mass="0.25"/>
<gazebo>
<plugin filename="gz-sim-mecanum-drive-system" name="gz::sim::systems::MecanumDrive">
<front_left_joint>wheel_fl_joint</front_left_joint>
<front_right_joint>wheel_fr_joint</front_right_joint>
<back_left_joint>wheel_bl_joint</back_left_joint>
<back_right_joint>wheel_br_joint</back_right_joint>
<wheel_separation>0.22</wheel_separation>
<wheelbase>0.22</wheelbase>
<wheel_radius>0.04</wheel_radius>
<min_acceleration>-5</min_acceleration>
<max_acceleration>5</max_acceleration>
</plugin>
</gazebo>
</robot>