107 lines
3.4 KiB
XML
107 lines
3.4 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sherpa">
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<gazebo>
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<plugin name="gz_ros2_control::GazeboSimROS2ControlPlugin" filename="libgz_ros2_control-system.so">
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<parameters>$(find sherpa)/config/ackermann_controller.yaml</parameters>
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</plugin>
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</gazebo>
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<link name="base_link">
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<inertial>
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<mass value="15"/>
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<inertia
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ixx="0.001828"
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ixy="0.0"
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ixz="0.0"
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iyy="0.001828"
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iyz="0.0"
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izz="0.003528"
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/>
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</inertial>
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</link>
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<xacro:include filename="components/imu.xacro"/>
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<xacro:include filename="components/wheel.xacro"/>
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<xacro:include filename="components/ouster_lidar.xacro"/>
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<xacro:imu name="imu" parent="base" xyz="0 0 0.156" rpy="0 0 0" frequency="300"/>
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<xacro:ouster_lidar name="lidar" parent="base" xyz="0 0 0.35" rpy="0 0 0" model="OS1" frequency="10" topic="/points"/>
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<link name="steer_fl_link">
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<inertial>
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<mass value="0.1"/>
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<inertia
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ixx="0.0"
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ixy="0.0"
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ixz="0.0"
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iyy="0.0"
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iyz="0.0"
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izz="0.0"
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/>
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</inertial>
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</link>
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<link name="steer_fr_link">
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<inertial>
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<mass value="0.1"/>
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<inertia
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ixx="0.0"
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ixy="0.0"
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ixz="0.0"
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iyy="0.0"
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iyz="0.0"
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izz="0.0"
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/>
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</inertial>
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</link>
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<xacro:wheel name="wheel_fl" parent="steer_fl" xyz="0 0.05 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
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<xacro:wheel name="wheel_fr" parent="steer_fr" xyz="0 -0.05 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
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<xacro:wheel name="wheel_bl" parent="base" xyz="-0.3 0.25 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
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<xacro:wheel name="wheel_br" parent="base" xyz="-0.3 -0.25 0" rpy="0 0 0" radius="0.15" mass="2.5"/>
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<joint name="steer_fl_joint" type="revolute">
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<parent link="base_link"/>
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<child link="steer_fl_link"/>
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<origin xyz="0.3 0.20 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit upper="0.3" lower="-0.3" effort="-1" velocity="-1"/>
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</joint>
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<joint name="steer_fr_joint" type="revolute">
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<parent link="base_link"/>
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<child link="steer_fr_link"/>
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<origin xyz="0.3 -0.20 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit upper="0.3" lower="-0.3" effort="-1" velocity="-1"/>
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</joint>
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<ros2_control name="SherpaSystem" type="system">
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<hardware>
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<plugin>gz_ros2_control/GazeboSimSystem</plugin>
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</hardware>
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<joint name="wheel_bl_joint">
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<command_interface name="velocity"/>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="wheel_br_joint">
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<command_interface name="velocity"/>
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<state_interface name="velocity"/>
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<state_interface name="position"/>
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</joint>
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<joint name="steer_fl_joint">
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<command_interface name="position"/>
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<state_interface name="position"/>
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</joint>
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<joint name="steer_fr_joint">
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<command_interface name="position"/>
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<state_interface name="position"/>
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</joint>
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</ros2_control>
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</robot>
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