Problematic URF

gistfile1.xml

<?xml version="1.0"?>
<robot
  xmlns="http://www.ros.org/wiki/urdf"
  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
  xsi:schemaLocation="https://raw.github.com/laas/urdf_validator/master file:urdf.xsd"
  xmlns:xacro="http://www.ros.org/wiki/xacro"
  name="microvision">

  <include filename="$(find microvision_description)/urdf/gazebo.urdf.xacro" />

  <xacro:property name="inches" value="0.0254" />
  <xacro:property name="pi" value="3.14159265" />

  <xacro:macro name="default_inertial" params="mass">
    <inertial>
      <mass value="${mass}" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> 
    </inertial>
  </xacro:macro>

  <!-- base_footprint for navigation, it is on the ground directly below base_link origin.
       It also serves the purpose of putting the root gazebo element on the 0 point of the z plane, which
       means physics doesn't launch ourselves out of the floor when we spawn the model -->
  <link name="base_footprint">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>

    <collision>
      <origin xyz="0 0 0.01" rpy="0 0 0" /> <!-- 1cm off the floor, so we won't collide -->
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>

  <!--- Base TUBE is around 2.5" Radius -->
  <link name="base_link">
    <visual>
      <origin rpy="${0.5*pi} ${-0.5*pi} ${0*pi}" xyz="${-3.75*inches} ${0*inches} ${-3.65*inches}" />
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/microvision_robot_1_no_camlaser.stl" />
      </geometry>
      <!--
      <origin rpy="${0.5*pi} ${0*pi} ${0*pi}" xyz="0 0 0" />
      <geometry>
        <cylinder radius="${2.5*inches}" length="${8*inches}" />
      </geometry>
      -->
      <material name="clearish">
        <color rgba="1 1 1 0.5" />
      </material>
    </visual>
    <collision>
      <origin rpy="${0.5*pi} ${0*pi} ${0*pi}" xyz="0 0 0" />
      <geometry>
        <cylinder radius="${2.5*inches}" length="${8*inches}" />
      </geometry>
    </collision>
    <inertial>
      <mass value="20.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> 
      <origin rpy="0 0 0" xyz="-0.05 0 0" />
    </inertial>
  </link>

  <!-- center of robot is 3.625 inches from the ground, because the rubber wheels are 7.25in diameter. -->
  <joint name="base_footprint_to_base_link" type="fixed">
    <origin xyz="0 0 0.092075" rpy="0 0 0" />
    <parent link="base_footprint" />
    <child link="base_link" />
  </joint>

  <xacro:macro name="microvision_wheel" params="prefix parent mirror">
    <link name="${prefix}_wheel">
      <visual>
        <origin rpy="0 0 ${mirror * 0.5 * pi}" xyz="0 0 0" />
        <geometry>
          <!-- Wheels are made of three parts: two .25in plates with dia 7in,
               which sandwich a .25in nitrile rubber groove with dia 7.25,
               the simple model models these as the rubber only. -->
          <mesh filename="package://microvision_description/meshes/stl/wheel_assy.stl" />
        </geometry>
        <material name="nitrilerubber">
          <color rgba="0.65 0.34 0.45 1" />
        </material>
      </visual>
      <collision>
        <origin rpy="0 0 ${mirror * 0.5 * pi}" xyz="0 0 0" />
        <geometry>
          <!-- Wheels are made of three parts: two .25in plates with dia 7in,
               which sandwich a .25in nitrile rubber groove with dia 7.25,
               the simple model models these as the rubber only. -->
          <mesh filename="package://microvision_description/meshes/stl/wheel_assy.stl" />
        </geometry>
      </collision>
      <xacro:default_inertial mass="1.0" />
    </link>

    <gazebo reference="${prefix}_wheel">
      <mu1 value="10" />
      <mu2 value="10" />
      <kp value="100000000.0" />
      <kd value="10000.0" />
      <fdir value="1 0 0" />
    </gazebo>

    <!-- Assume a .25 in gap between the body and the wheel, meaning the center of the
         wheel is: 3.995 (half of the body) + 0.25 (air gap) + 0.25 (inner wheel plate) + 0.125 (half of the rubber) = 
          4.62in from the origin. -->
    <joint name="${prefix}_wheel_joint" type="continuous">
      <axis xyz="0 1 0" />
      <origin rpy="0 0 0" xyz="0 ${0.117348 * mirror} 0" />
      <parent link="${parent}" />
      <child link="${prefix}_wheel" />
    </joint>
  </xacro:macro>

  <xacro:microvision_wheel prefix="left" parent="base_link" mirror="1" />
  <xacro:microvision_wheel prefix="right" parent="base_link" mirror="-1" />

  <!-- The tail is connected to a linear actuator, a Firgelli L12
       This is the 30mm version.. If we have another version, we can just add the MM
       to the X axis
       The measurements are from the datasheet (in mm):
       x - length - stroke + 7 + 37 + 9 = 83mm
       y - height - 18
       z - width  - 15
       -->
  <link name="linear_actuator_body">
    <visual>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/firgelli_l12_body.stl" />
      </geometry>
      <!-- the axis of this body is in the center of the mounting hole -->
      <origin rpy="${0.5*pi} 0 0" xyz="0 0 0" />
      <material name="blue">
        <color rgba="0.00 0.00 0.66 1" />
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/firgelli_l12_body.stl" />
      </geometry>
      <origin rpy="${0.5*pi} 0 0" xyz="0 0 0" />
    </collision>
    <xacro:default_inertial mass="0.034" />
  </link>

  <!-- TODO: Assuming it's attached in the center of the back of the box, on the top edge,
       which is what it looks like by the pictures -->
  <joint name="base_link_to_linear_actuator" type="fixed">
    <parent link="base_link" />
    <child link="linear_actuator_body" />
    <!-- 2 inches of the box + 9 mm = 2.35433 -->
    <origin rpy="0 ${-0.5*pi} 0" xyz="${-3.43*inches} 0 ${2.05*inches}" />
  </joint>

  <link name="linear_actuator_piston">
    <visual>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/firgelli_l12_slide.stl" />
      </geometry>
      <!-- place the axis on the end -->
      <origin xyz="-0.003 -0.0045 0.0045" rpy="${0.5*pi} ${0*pi} 0" />
      <material name="red aluminum">
        <color rgba="0.66 0.11 0.11 1" />
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/firgelli_l12_slide.stl" />
      </geometry>
      <!-- place the axis on the end -->
      <origin xyz="-0.003 -0.0045 0.0045" rpy="${0.5*pi} ${0*pi} 0" />
    </collision>
    <xacro:default_inertial mass="0.004" />
  </link>

  <joint name="linear_actuator_body_to_piston" type="prismatic">
    <parent link="linear_actuator_body" />
    <child link="linear_actuator_piston" />
    <limit lower="-0.030" upper="0" effort="1000.0" velocity="0.05" />
    <axis xyz="1 0 0" />
    <origin rpy="0 0 0" xyz="-0.0825 0 0" />
  </joint>

  <!-- TODO: the actuator is connected to the tail piece partway through.  -->
  <link name="tail_piece">
    <visual>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/tail_assembly.stl" />
      </geometry>
      <!-- put the origin where the pin goes -->
      <origin xyz="0.0088 -0.006 -0.013" rpy="0 ${pi} ${0.5*pi}" />
      <material name="aluminum">
        <color rgba="0.66 0.66 0.66 0.5" />
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/tail_assembly.stl" />
      </geometry>
      <origin xyz="0.0088 -0.006 -0.013" rpy="0 ${pi} ${0.5*pi}" />
    </collision>
    <xacro:default_inertial mass="1.00" />
  </link>

  <joint name="tail_actuator_joint" type="revolute">
    <!-- tail attaches to the bottom back plate of the main body, right above the bottom of the robot main body -->
    <origin rpy="0 0.7161 0" xyz="${-2.25*inches} 0 ${-1.918*inches}" />
    <limit lower="-0.8451" upper="0" effort="1000.0" velocity="0.392" />
    <axis xyz="0 1 0" />
    <parent link="base_link" />
    <child link="tail_piece" />
    <mimic joint="linear_actuator_body_to_piston" multiplier="1" offset="0" />
  </joint>

  <link name="laser">
    <visual>
      <origin rpy="${0.5*pi} ${0*pi} ${0.5*pi}" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://microvision_description/meshes/stl/rangefinder_with_shield.stl" />
      </geometry>
      <material name="aluminum" />
    </visual>
    <collision>
      <geometry>
        <box size="0.0635 0.06985 0.08255" />
      </geometry>
    </collision>
    <xacro:default_inertial mass="0.160" />
  </link>

  <!-- Let's give the laser no friction for now, just because we don't want to stick like glue to the floor. -->
  <xacro:gazebo_frictionless link_name="laser" />

  <joint name="laser_joint" type="fixed">
    <!-- laser base center is 2.4375in from the center of the robot, on the left as you are behind it -->
    <origin xyz="0.0 0.061925 0.07" rpy="0 0 0" />
    <parent link="base_link" /> 
    <child link="laser" />
  </joint>

  <microvision_sim_laser />
  <microvision_sim_microvision />

</robot>