SHERPA/sherpa_ros2_ws
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updated robot description

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This commit is contained in:
Timo Schneider
2025-04-09 08:01:42 +02:00
parent c8b0ee68e8
commit f61247ff22
6 changed files with 86 additions and 33 deletions
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52
src/sherpa/urdf/sherpa.xacro Executable file → Normal file
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@@ -1,5 +1,11 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sherpa">
<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>
</plugin>
</gazebo>
<link name="base_link">
<inertial>
<mass value="15"/>
@@ -14,9 +20,11 @@
</inertial>
</link>
<xacro:include filename="components/imu.xacro"/>
<xacro:include filename="components/mecanum_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=" 0.11 -0.11 0" rpy="0 0 0" direction="r" radius="0.04" mass="0.25"/>
@@ -24,17 +32,33 @@
<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>
<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"/>
<state_interface name="position"/>
</joint>
<joint name="wheel_br_joint">
<command_interface name="velocity"/>
<state_interface name="velocity"/>
<state_interface name="position"/>
</joint>
</ros2_control>
</robot>