wheel.urdf.xacro

wheel.urdf.xacro

<?xml version="1.0"?>

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


  	<xacro:property name="wheel_kp" value="600000" />
    <xacro:property name="wheel_kd" value="3" />
    <xacro:property name="wheel_mu1" value="10000000" />
    <xacro:property name="wheel_mu2" value="10000000" />

<xacro:macro name="wheel" params="wheel_prefix parent_link *joint_pose">

		<!-- Wheel Link -->
		<link name="${wheel_prefix}_wheel_link">
			<inertial>
				<mass value="0.144" />
				<origin xyz="0 0 0" />
				<inertia  ixx="0.00008929863" ixy="0" ixz="0" iyy="0.000168983" iyz="0" izz="0.00008929863" />
			</inertial>
			<visual>
				<xacro:if value="$(arg mesh_enabled)">
					<origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
					<geometry>
						<mesh filename="package://onebot_description/meshes/wheel.dae" />
					</geometry> 
				</xacro:if>
				<xacro:unless value="$(arg mesh_enabled)">
					<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
					<geometry>
						<cylinder length="0.02" radius="0.04688" />
					</geometry>
				</xacro:unless>
			</visual>
			<collision>
				<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
				<geometry>
						<cylinder length="0.02" radius="0.04688" />
				</geometry>
			</collision>
		</link>

		<!-- Wheel Joint -->
		<joint name="${wheel_prefix}_wheel" type="continuous">
			<parent link="${parent_link}"/>
			<child link="${wheel_prefix}_wheel_link"/>
			<xacro:insert_block name="joint_pose"/>
			<axis xyz="0 1 0" rpy="0 0 0" />
			<dynamics damping="0.5" friction="100.0" />
		</joint>
  
		<gazebo reference="${wheel_prefix}_wheel_link">
			<mu1 value="${wheel_mu1}"/>			
			<mu2 value="${wheel_mu2}"/>
			<kp>${wheel_kp}</kp>
    		<kd>${wheel_kd}</kd>
			<dampingFactor>0.05</dampingFactor>
			<fdir1 value="1 0 0"/>
		</gazebo>

		<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
			<type>transmission_interface/SimpleTransmission</type>
			<actuator name="${wheel_prefix}_wheel_motor">
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>
			<joint name="${wheel_prefix}_wheel">
				<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
			</joint>
		</transmission>

</xacro:macro>

</robot>