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callen5914/ackerman.launch

Created January 28, 2020 04:39
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My Failed Robot
Raw
ackerman.launch
<launch>
<!-- Load the Basic Frame Pig -->
<arg name="model" default="$(find little_pig_atv)/urdf/basic_frame_pig.urdf" />
<!-- Get the basic Rviz configs -->
<arg name="rvizconfig" default="$(find little_pig_atv)/rviz/urdf.rviz" />
<!-- Call in the ackerman controller -->
<rosparam command="load" file="$(find little_pig_atv)/config/joint_ctrl.yaml" ns="/basic_frame_pig" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/basic_frame_pig" args="front_left_wheel_controller"/>
<!-- Call in Gazebo -->
<include file="$(find little_pig_atv)/launch/gazebo.launch">
<arg name="model" value="$(arg model)" />
</include>
<node name="rqt_robot_steering" pkg="rqt_robot_steering" type="rqt_robot_steering">
<param name="default_topic" value="/little_pig_drive_controller/cmd_vel"/>
</node>
</launch>
Raw
base_frame_pig.urdf
<?xml version="1.0"?>
<robot name="basic_frame_pig">
<!-- Base Link / Tube Chasis-->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.005632841369081588 0.2917022138225285 -0.004107516953549188"/>
<mass value="61.719091558990335"/>
<inertia ixx="23.451972" ixy="-0.091403" ixz="-0.110297" iyy="6.432858" iyz="1.415813" izz="26.484945"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/base_link_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/base_link_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Left Steering Knuckle -->
<link name="left_steering_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="0.04626374762862234 0.005213062909487198 0.06475119586205944"/>
<mass value="2.3221244569381487"/>
<inertia ixx="0.004736" ixy="0.000171" ixz="6.1e-05" iyy="0.003675" iyz="6e-06" izz="0.003101"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.447222 0.622377 0.163596"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/left_steering_knuckle_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.447222 0.622377 0.163596"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/left_steering_knuckle_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Base Link - Left Steering Knuckle Joint -->
<joint name="base_link_to_left_steering_knuckle" type="fixed">
<origin rpy="0 0 0" xyz="0.447222 -0.622377 -0.163596"/>
<parent link="base_link"/>
<child link="left_steering_knuckle"/>
<axis xyz="-0.000375 -0.0 0.009993"/>
<limit lower="-0.5" upper="0.5" effort="1.0" velocity="2.0"/>
</joint>
<!-- Base Link - Left Steering Knuckle Transmission -->
<!-- <transmission name="base_link_to_left_steering_knuckle_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_to_left_steering_knuckle">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="base_link_to_left_steering_knuckle_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Front Left Wheel Hub -->
<link name="front_left_wheel_hub">
<inertial>
<origin rpy="0 0 0" xyz="0.027160820485626624 1.743857634961543e-07 0.0010195880848413164"/>
<mass value="1.118795265201953"/>
<inertia ixx="0.001287" ixy="-0.0" ixz="1.1e-05" iyy="0.000986" iyz="0.0" izz="0.000987"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.526843 0.622377 0.097593"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_hub_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.526843 0.622377 0.097593"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_hub_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Front Left Steering Knuckle to Front Left Wheel Hub Joint -->
<joint name="front_left_steering_knuckle_front_left_wheel_hub" type="continuous">
<origin rpy="0 0 0" xyz="0.079621 0.0 0.066003"/>
<parent link="left_steering_knuckle"/>
<child link="front_left_wheel_hub"/>
<axis xyz="-0.009993 -0.0 -0.000375"/>
<limit lower="0.0" upper="0.0" effort="1" velocity="10.00"/>
</joint>
<!-- Front Left Steering Knuckle to Front Left Wheel Hub Transmission -->
<transmission name="front_left_steering_knuckle_front_left_wheel_hub_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_steering_knuckle_front_left_wheel_hub">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_steering_knuckle_front_left_wheel_hub_actr">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- Front Left Wheel -->
<link name="front_left_wheel">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="20.995"/>
<inertia ixx="0.996" ixy="0.0" ixz="0.0" iyy="0.612" iyz="0.0" izz="0.612"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.563887 0.622377 0.096202"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.563887 0.622377 0.096202"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_left_wheel_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Front Left Wheel Hub to Front Left Wheel Joint-->
<joint name="front_left_wheel_hub_front_left_wheel" type="fixed">
<origin rpy="0 0 0" xyz="0.037044 0.0 0.001391"/>
<parent link="front_left_wheel_hub"/>
<child link="front_left_wheel"/>
</joint>
<!-- Front Left Wheel Hub to Front Left Wheel Joint-->
<!-- <transmission name="front_left_wheel_hub_front_left_wheel_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_wheel_hub_front_left_wheel">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_wheel_hub_front_left_wheel_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Right Steering Knuckle -->
<link name="right_steering_knuckle">
<inertial>
<origin rpy="0 0 0" xyz="-0.04602703865184993 0.00521305901325253 0.06491864444227143"/>
<mass value="2.322126893861874"/>
<inertia ixx="0.004736" ixy="-0.000171" ixz="-6.7e-05" iyy="0.003675" iyz="7e-06" izz="0.003102"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.457954 0.622377 0.162568"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/right_steering_knuckle_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.457954 0.622377 0.162568"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/right_steering_knuckle_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Base Link - Right Steering Knuckle Joint -->
<joint name="base_link_to_right_steering_knuckle" type="fixed">
<origin rpy="0 0 0" xyz="-0.457954 -0.622377 -0.162568"/>
<parent link="base_link"/>
<child link="right_steering_knuckle"/>
<axis xyz="0.000412 -0.0 0.009992"/>
<limit lower="-0.5" upper="0.5" effort="1.0" velocity="2.0"/>
</joint>
<!-- Base Link - Right Steering Knuckle Transmission -->
<!-- <transmission name="base_link_to_right_steering_knuckle_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_to_right_steering_knuckle">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="base_link_to_right_steering_knuckle_actr">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Front Right Wheel Hub -->
<link name="front_right_wheel_hub">
<inertial>
<origin rpy="0 0 0" xyz="-0.03807755669639501 2.229040352297318e-07 0.0015684173363760129"/>
<mass value="1.1187951842239643"/>
<inertia ixx="0.001286" ixy="0.0" ixz="-1.2e-05" iyy="0.000986" iyz="-0.0" izz="0.000987"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.526428 0.622377 0.096724"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_hub_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.526428 0.622377 0.096724"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_hub_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Right Steering Knuckle - Front Right Wheel Hub Joint -->
<joint name="right_steering_knuckle_front_right_hub" type="continuous">
<origin rpy="0 0 0" xyz="-0.068474 0.0 0.065844"/>
<parent link="right_steering_knuckle"/>
<child link="front_right_wheel_hub"/>
<axis xyz="0.009992 0.0 -0.000412"/>
</joint>
<!-- Right Steering Knuckle - Front Right Wheel Hub Transmission -->
<!-- <transmission name="right_steering_knuckle_front_right_hub_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_steering_knuckle_front_right_hub">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="right_steering_knuckle_front_right_hub_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Front Right Wheel -->
<link name="front_right_wheel">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<mass value="20.995"/>
<inertia ixx="0.996" ixy="0.0" ixz="0.0" iyy="0.612" iyz="0.0" izz="0.612"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.574387 0.622377 0.094748"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.574387 0.622377 0.094748"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/front_right_wheel_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Front Right Wheel Hub to Front Right Wheel Joint -->
<joint name="front_right_wheel_hub_front_right_wheel" type="fixed">
<origin rpy="0 0 0" xyz="-0.047959 0.0 0.001976"/>
<parent link="front_right_wheel_hub"/>
<child link="front_right_wheel"/>
</joint>
<!-- Front Right Wheel Hub to Front Right Wheel Transmission -->
<!-- <transmission name="front_right_wheel_hub_front_right_wheel_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_wheel_hub_front_right_wheel">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_wheel_hub_front_right_wheel_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Rear Left Wheel Hub -->
<link name="rear_left_hub">
<inertial>
<origin rpy="0 0 0" xyz="0.027291669153874487 1.9676759810405287e-07 -0.0001474093893083922"/>
<mass value="1.1187963911881649"/>
<inertia ixx="0.001287" ixy="0.0" ixz="-2e-06" iyy="0.000986" iyz="0.0" izz="0.000986"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.547664 -0.788123 0.102833"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_hub_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.547664 -0.788123 0.102833"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_hub_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Base Link to Rear Left Wheel Hub Joint -->
<joint name="base_link_rear_left_wheel_hub" type="continuous">
<origin rpy="0 0 0" xyz="0.547664 0.788123 -0.102833"/>
<parent link="base_link"/>
<child link="rear_left_hub"/>
<axis xyz="0.01 -0.0 -5.4e-05"/>
</joint>
<!-- Base Link to Rear Left Wheel Hub Transmission -->
<!-- <transmission name="base_link_rear_left_wheel_hub_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_rear_left_wheel_hub">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="base_link_rear_left_wheel_hub_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Rear Left Wheel -->
<link name="rear_left_wheel">
<inertial>
<origin rpy="0 0 0" xyz="-0.024998897547842458 3.7973710019789664e-06 0.0001368244068725294"/>
<mass value="88.28370410127773"/>
<inertia ixx="5.402188" ixy="-3e-05" ixz="-0.011694" iyy="3.237533" iyz="2.6e-05" izz="3.237567"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.584846 -0.788123 0.103034"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_wheel_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.584846 -0.788123 0.103034"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_left_wheel_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Rear Left Wheel Hub to Rear Left Wheel Joint -->
<joint name="rear_left_wheel_hub_rear_left_wheel" type="fixed">
<origin rpy="0 0 0" xyz="0.037182 0.0 -0.000201"/>
<parent link="rear_left_hub"/>
<child link="rear_left_wheel"/>
</joint>
<!-- Rear Left Wheel Hub to Rear Left Wheel Transmission -->
<!-- <transmission name="rear_left_wheel_hub_rear_left_wheel_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_left_wheel_hub_rear_left_wheel">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_wheel_hub_rear_left_wheel_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Rear Right Wheel Hub -->
<link name="rear_right_hub">
<inertial>
<origin rpy="0 0 0" xyz="-0.027291096145922622 2.0521091637082378e-07 3.286601153970614e-05"/>
<mass value="1.1187959967121328"/>
<inertia ixx="0.001287" ixy="-0.0" ixz="-0.0" iyy="0.000986" iyz="-0.0" izz="0.000986"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.547263 -0.788123 0.13233"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_hub_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.547263 -0.788123 0.13233"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_hub_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Base Link to Rear Right Wheel Hub Joint -->
<joint name="base_link_rear_right_wheel_hub" type="continuous">
<origin rpy="0 0 0" xyz="-0.547263 0.788123 -0.13233"/>
<parent link="base_link"/>
<child link="rear_right_hub"/>
<axis xyz="-0.01 0.0 1.2e-05"/>
</joint>
<!-- Base Link to Rear Right Wheel Hub Transmission -->
<!-- <transmission name="base_link_rear_right_wheel_hub_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_rear_right_wheel_hub">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="base_link_rear_right_wheel_hub_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Rear Right Wheel -->
<link name="rear_right_wheel">
<inertial>
<origin rpy="0 0 0" xyz="0.022815265177914767 2.0103108817615123e-06 -2.4107454217187074e-05"/>
<mass value="88.28370095669479"/>
<inertia ixx="5.402246" ixy="1.2e-05" ixz="-0.002585" iyy="3.234966" iyz="2.6e-05" izz="3.235"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.584444 -0.788123 0.132285"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_wheel_m-binary.stl"/>
</geometry>
<material name="silver">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.584444 -0.788123 0.132285"/>
<geometry>
<mesh filename="package://little_pig_atv/urdf/bin_stl/rear_right_wheel_m-binary.stl"/>
</geometry>
</collision>
</link>
<!-- Rear Right Wheel Hub to Rear Right Wheel Joint -->
<joint name="rear_right_wheel_hub_rear_right_wheel" type="fixed">
<origin rpy="0 0 0" xyz="-0.037181 0.0 4.5e-05"/>
<parent link="rear_right_hub"/>
<child link="rear_right_wheel"/>
</joint>
<!-- Rear Right Wheel Hub to Rear Right Wheel Trainsmission -->
<!-- <transmission name="rear_right_wheel_hub_rear_right_wheel_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rear_right_wheel_hub_rear_right_wheel">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_wheel_hub_rear_right_wheel_actr">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission> -->
<!-- Gazebo plugin for ROS Control -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/basic_frame_pig</robotNamespace>
</plugin>
</gazebo>
</robot>
Raw
gazebo.launch
<launch>
<!-- This will load Basic_Geometry_Pig as the URDF model -->
<arg name="model" default="$(find little_pig_atv)/urdf/basic_geometry_pig.urdf.xacro"/>
<!-- Setting some default args to start Gazebo with -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- Load an empty Gazebo world with the args above -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py --inorder $(arg model)" />
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
args="-z 1.0 -unpause -urdf -model basic_geometry_pig -param robot_description" respawn="false" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
</launch>
Raw
joint_ctrl.yaml
# Publish the joint states to joint_states.
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Velocity Controllers
front_left_wheel_controller:
type: effort_controllers/JointPositionController
joint: front_left_steering_knuckle_front_left_wheel_hub
pid: {p: 50.0, i: 0.01, d: 10.0}
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