robuster_horizon.urdf.xarco

gistfile1.txt

<?xml version="1.0" encoding="utf-8"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro" name="mr1000">

  <!-- <xacro:arg name="robot_namespace" default="/robuster_horizon" /> -->
  <xacro:arg name="robot_namespace" default="/" />
  <xacro:arg name="gpu" default="false"/>
  <xacro:property name="gpu" value="$(arg gpu)" />

  <!-- Wheel Properties -->
  <xacro:property name="wheel_length" value="0.1143" />
  <xacro:property name="wheel_radius" value="0.1651" /> 

  <!-- Wheel Mounting Positions -->
  <xacro:property name="wheelbase" value="0.4885" /> <!-- distance betwee front wheel and rear wheel -->
  <xacro:property name="track" value="0.5347" />  <!-- separation between left wheel and right wheel: 0.1143 + 0.4204 = 0.5347-->
  <xacro:property name="wheel_vertical_offset" value="0.04" />

  <!-- Base Size -->
  <xacro:property name="base_x_size" value="0.866" />
  <xacro:property name="base_y_size" value="0.400" />
  <xacro:property name="base_z_size" value="0.2165" />
  <xacro:property name="M_PI" value="3.14159"/>

  <!-- Lidar Config -->
  <xacro:property name="LiDARName" value="rslidar80" />
  <xacro:property name="topicName" value="rslidar80_points" />
  <xacro:property name="frameName" value="rslidar80_frame" />
  <xacro:property name="min_range" value="0.9" />
  <xacro:property name="max_range" value="130.0" />
  <xacro:property name="samples" value="440"/>
  <xacro:property name="hz" value="10" />
  <xacro:property name="gaussianNoise" value="0.008" />

  <!-- Included URDF/XACRO Files -->
  <xacro:include filename="$(find active_mapping)/urdf/mr1000_wheel.urdf.xacro" />
  <link name="base_link">
    <inertial>
      <!-- husky 
      <mass value="46.034" />
      <origin xyz="-0.00065 -0.085 0.062" />
      <inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> 
      -->
      <!--  turtlebot
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> 
      -->
      <!-- mr1000 -->
      <origin  xyz="0.0083361 0.00033765 0.10648" rpy="0 0 0" />
      <mass value="13.336" /> 
      <inertia ixx="0.12049" ixy="5.9344E-06" ixz="-0.001006" iyy="0.32804" iyz="-7.8809E-07" izz="0.41342" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://active_mapping/meshes/base_linkm3.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
      </geometry>
    </collision>
    <!-- <collision>
      <origin xyz="0 0 ${base_z_size*3/4-0.01}" rpy="0 0 0" />
      <geometry>
        <box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2-0.02}"/>
      </geometry>
    </collision> -->
  </link>
  <gazebo reference="base_link">                   
    <material>Gazebo/Yellow</material>
  </gazebo>

  <!-- Base footprint is on the ground under the robot -->
  <link name="base_footprint"/>
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="base_footprint" />
  </joint>

  <!-- Wheel links generated from macros -->
  <xacro:mr1000_wheel wheel_prefix="front_left">
    <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
  </xacro:mr1000_wheel>
  <xacro:mr1000_wheel wheel_prefix="front_right">
    <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
  </xacro:mr1000_wheel>
  <xacro:mr1000_wheel wheel_prefix="rear_left">
    <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
  </xacro:mr1000_wheel>
  <xacro:mr1000_wheel wheel_prefix="rear_right">
    <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
  </xacro:mr1000_wheel>

  <!-- IMU Link is the standard mounting position for the UM6 IMU.-->
  <link name="imu_link">
    <inertial>
      <origin xyz="0.0083361 0.00033765 0.10648" rpy="0 0 0" />
      <mass value="0.336" />
      <inertia  ixx="0.12049" ixy="0.0" ixz="0.0" iyy="0.01788" iyz="0.0" izz="0.41342" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.02"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="imu_joint" type="fixed">
    <!-- <origin xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" /> -->
    <!-- http://wiki.ros.org/husky_bringup/Tutorials/Customize%20Husky%20Configuration -->
    <origin xyz="0 0 ${base_z_size}" rpy="0 ${-M_PI/2} ${M_PI}" />
    <parent link="base_link" />
    <child link="imu_link" />
  </joint>
  <gazebo reference="imu_link">
    <material>Gazebo/Red</material>
  </gazebo>

  <!-- Gazebo imu controller -->
  <gazebo>
    <plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
      <robotNamespace>$(arg robot_namespace)</robotNamespace>
      <updateRate>50.0</updateRate>
      <bodyName>base_link</bodyName>
      <topicName>imu/data</topicName>
      <accelDrift>0.005 0.005 0.005</accelDrift>
      <accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
      <rateDrift>0.005 0.005 0.005 </rateDrift>
      <rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
      <headingDrift>0.005</headingDrift>
      <headingGaussianNoise>0.005</headingGaussianNoise>
    </plugin>
  </gazebo>

  <!-- livox -->

  <xacro:property name="lidar_link_width" value="0.003" />
  <xacro:property name="lidar_link_len" value="0.2" />

  <xacro:macro name="inertial_matrix" params="mass">
      <inertial>
          <mass value="${mass}" />
          <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.025" iyz="0.0" izz="0.05" />
      </inertial>
  </xacro:macro>

  <joint name="crank_joint" type="fixed">
      <parent link="base_link"/>
      <child link="lidar_link"/>
      <origin xyz="0 0 ${base_z_size + 0.3}" rpy="0 0 0"/>
  </joint>

  <link name="lidar_link" >
    <visual>
      <origin xyz="0 0 ${lidar_link_len/2}" rpy="0 0 0" />
        <geometry>
          <cylinder radius="${lidar_link_width}" length="${lidar_link_len}"/>
        </geometry>
      <material name="Blue" />
    </visual>
    <collision>
      <origin xyz="0 0 ${lidar_link_len/2}" rpy="0 ${M_PI/2} 0" />
        <geometry>
      <cylinder radius="${lidar_link_width}" length="${lidar_link_len/2-0.1}"/>
        </geometry>
    </collision>
    <xacro:inertial_matrix mass="0.05"/>
  </link>

  <xacro:include filename="$(find livox_laser_simulation)/urdf/livox_horizon.xacro"/>
  <xacro:Livox_HORIZON name="livox"/>

  <joint name="livox_base_joint" type="revolute">
    <parent link="lidar_link"/>
    <child link="livox_base"/>
    <origin rpy="0 0 0"
            xyz="0.05 0 ${lidar_link_len}"/>
    <axis xyz="0 1 0" />
    <dynamics damping="0.5" friction="0.06"/>
    <limit effort="300" velocity="0.2" lower="-1.57" upper="1.57"/>
  </joint>

  <transmission name="simple_trans">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="livox_base_joint">
          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      </joint> 
      <actuator name="foo_motor">
          <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
      </actuator>
  </transmission>

  <!-- Gazebo differentiate controller -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>$(arg robot_namespace)</robotNamespace>
      <legacyModeNS>false</legacyModeNS>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>

<gazebo>
  <plugin name="car_odom_publisher" filename="libgazebo_ros_p3d.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>50.0</updateRate>
    <bodyName>base_link</bodyName>
    <topicName>robuster_odom_gt</topicName>
    <gaussianNoise>0.0</gaussianNoise>
    <frameName>map</frameName>
  </plugin>
 </gazebo>

</robot>