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|
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<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from src/bot_model/urdf/bcr_bot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="bcr_bot">
|
||||
<!--................................ XACRO CONSTANTS .............................. -->
|
||||
<!-- ............................... LOAD MACROS ................................. -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="yellow">
|
||||
<color rgba="1.0 1.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="dark_grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.5450980392156862 0.27058823529411763 0.07450980392156863 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="turquoise">
|
||||
<color rgba="0.25098039215686274 0.8784313725490196 0.8156862745098039 1.0"/>
|
||||
</material>
|
||||
<material name="purple">
|
||||
<color rgba="0.5019607843137255 0.0 0.5019607843137255 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="aluminium">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
<material name="plastic">
|
||||
<color rgba="0.1 0.1 0.1 1"/>
|
||||
</material>
|
||||
<!--................................ INERTIA MATRICES .............................. -->
|
||||
<!-- ............................... TROLLEY WHEEL DEFINITION .............................. -->
|
||||
<!-- ........................... SENSOR PLUGIN ................................... -->
|
||||
<gazebo>
|
||||
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-joint-state-publisher-system" name="gz::sim::systems::JointStatePublisher">
|
||||
</plugin>
|
||||
<!-- ........................... DIFFERENTIAL DRIVE PLUGIN ................................... -->
|
||||
<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
|
||||
<left_joint>middle_left_wheel_joint</left_joint>
|
||||
<right_joint>middle_right_wheel_joint</right_joint>
|
||||
<wheel_separation>0.64</wheel_separation>
|
||||
<wheel_radius>0.11</wheel_radius>
|
||||
<odom_publish_frequency>30</odom_publish_frequency>
|
||||
<topic>/cmd_vel</topic>
|
||||
<frame_id>odom</frame_id>
|
||||
<child_frame_id>base_footprint</child_frame_id>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<!-- ............................. ground truth .................................... -->
|
||||
<gazebo>
|
||||
<plugin filename="libgz-sim-odometry-publisher-system" name="gz::sim::systems::OdometryPublisher">
|
||||
<odom_frame>odom</odom_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
<odom_topic>odom</odom_topic>
|
||||
<tf_topic>/tf</tf_topic>
|
||||
<dimensions>2</dimensions>
|
||||
<odom_publish_frequency>10</odom_publish_frequency>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<!-- ........................... 2D LIDAR config ................................... -->
|
||||
<gazebo reference="two_d_lidar">
|
||||
<sensor name="gpu_lidar" type="gpu_lidar">
|
||||
<topic>scan</topic>
|
||||
<update_rate>30</update_rate>
|
||||
<gz_frame_id>two_d_lidar</gz_frame_id>
|
||||
<lidar>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>361</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0.0</min_angle>
|
||||
<max_angle>6.283185307179586</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.55</min>
|
||||
<max>16</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.001</stddev>
|
||||
</noise>
|
||||
</lidar>
|
||||
<always_on>1</always_on>
|
||||
<visualize>true</visualize>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<!-- ........................... CAMERA config ................................... -->
|
||||
<gazebo reference="kinect_camera">
|
||||
<sensor name="kinect_camera" type="depth_camera">
|
||||
<update_rate>10.0</update_rate>
|
||||
<topic>kinect_camera</topic>
|
||||
<gz_frame_id>kinect_camera</gz_frame_id>
|
||||
<camera>
|
||||
<camera_info_topic>kinect_camera/camera_info</camera_info_topic>
|
||||
<horizontal_fov>1.0471975511965976</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.05</near>
|
||||
<far>8.0</far>
|
||||
</clip>
|
||||
</camera>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<!-- ........................... IMU config ................................... -->
|
||||
<gazebo reference="imu_frame">
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>1</update_rate>
|
||||
<gz_frame_id>imu_frame</gz_frame_id>
|
||||
<visualize>true</visualize>
|
||||
<topic>imu</topic>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="stereo_camera">
|
||||
<sensor name="right" type="camera">
|
||||
<update_rate>10.0</update_rate>
|
||||
<always_on>true</always_on>
|
||||
<gz_frame_id>stereo_camera_optical</gz_frame_id>
|
||||
<pose>0 -0.12 0 0 0 0</pose>
|
||||
<topic>stereo_camera/right/image_raw</topic>
|
||||
<camera_info_topic>stereo_camera/right/camera_info</camera_info_topic>
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1024</width>
|
||||
<height>1024</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.3</near>
|
||||
<far>20</far>
|
||||
</clip>
|
||||
</sensor>
|
||||
<sensor name="left" type="camera">
|
||||
<topic>stereo_camera/left/image_raw</topic>
|
||||
<update_rate>10.0</update_rate>
|
||||
<always_on>true</always_on>
|
||||
<gz_frame_id>stereo_camera_optical</gz_frame_id>
|
||||
<camera_info_topic>stereo_camera/left/camera_info</camera_info_topic>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>1024</width>
|
||||
<height>1024</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.3</near>
|
||||
<far>20</far>
|
||||
</clip>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<!-- ................................ BASE LINK .................................. -->
|
||||
<link name="base_footprint"/>
|
||||
<link name="base_link"/>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link"/>
|
||||
<origin rpy="0 0 0.0" xyz="0.0 0 0.195"/>
|
||||
</joint>
|
||||
<link name="chassis_link">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.05"/>
|
||||
<geometry>
|
||||
<box size="0.9 0.64 0.19"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.205"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/bcr_bot_mesh.dae" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="70"/>
|
||||
<inertia ixx="2.5999166666666667" ixy="0" ixz="0" iyy="4.935583333333334" iyz="0" izz="7.114333333333334"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis_link"/>
|
||||
<origin rpy="0 0 0.0" xyz="0.0 0 0"/>
|
||||
</joint>
|
||||
<!-- ................................ WHEELS ..................................... -->
|
||||
<link name="front_left_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
|
||||
</inertial>
|
||||
<mu>0.0</mu>
|
||||
</link>
|
||||
<joint name="front_left_wheel_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0.45 0.27 -0.155"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="front_left_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="front_right_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
|
||||
</inertial>
|
||||
<mu>0.0</mu>
|
||||
</link>
|
||||
<joint name="front_right_wheel_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0.45 -0.27 -0.155"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="front_right_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="back_left_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
|
||||
</inertial>
|
||||
<mu>0.0</mu>
|
||||
</link>
|
||||
<joint name="back_left_wheel_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="back_left_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="-0.45 0.27 -0.155"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="back_left_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="back_right_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
|
||||
</inertial>
|
||||
<mu>0.0</mu>
|
||||
</link>
|
||||
<joint name="back_right_wheel_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="back_right_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="-0.45 -0.27 -0.155"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="back_right_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="middle_left_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
<self_collide>false</self_collide>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
|
||||
</inertial>
|
||||
<mu>5.0</mu>
|
||||
</link>
|
||||
<joint name="middle_left_wheel_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="middle_left_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.3 -0.11699999999999999"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="middle_left_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<link name="middle_right_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
<self_collide>false</self_collide>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
|
||||
</inertial>
|
||||
<mu>5.0</mu>
|
||||
</link>
|
||||
<joint name="middle_right_wheel_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="middle_right_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.3 -0.11699999999999999"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<gazebo reference="middle_right_wheel">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<!-- ............................. 2D LIDAR ........................................ -->
|
||||
<link name="two_d_lidar">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.06" radius="0.075"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.06" radius="0.075"/>
|
||||
</geometry>
|
||||
<material name="aluminium"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.000170625" ixy="0" ixz="0" iyy="0.000170625" iyz="0" izz="0.00028125"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="two_d_lidar_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="two_d_lidar"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.08"/>
|
||||
</joint>
|
||||
<gazebo reference="two_d_lidar">
|
||||
<material>Gazebo/White</material>
|
||||
</gazebo>
|
||||
<!-- ............................. IMU ........................................ -->
|
||||
<link name="imu_frame"/>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_frame"/>
|
||||
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08"/>
|
||||
</joint>
|
||||
<!-- ............................. CAMERA ........................................ -->
|
||||
<!-- KINECT CAMERA -->
|
||||
<link name="kinect_camera">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.07 0.3 0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/d415.dae"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="kinect_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="kinect_camera"/>
|
||||
</joint>
|
||||
<link name="kinect_camera_optical"/>
|
||||
<joint name="kinect_camera_optical_joint" type="fixed">
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="kinect_camera"/>
|
||||
<child link="kinect_camera_optical"/>
|
||||
</joint>
|
||||
<!-- .............................STEREO CAMERA ........................................ -->
|
||||
<!-- STEREO CAMERA -->
|
||||
<link name="stereo_camera">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.07 0.3 0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/d415.dae"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="stereo_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="stereo_camera"/>
|
||||
</joint>
|
||||
<link name="stereo_camera_optical"/>
|
||||
<joint name="stereo_camera_optical_joint" type="fixed">
|
||||
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
|
||||
<parent link="stereo_camera"/>
|
||||
<child link="stereo_camera_optical"/>
|
||||
</joint>
|
||||
<!-- ............................. ROOF ........................................ -->
|
||||
<link name="roof_link">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.9 0.64 0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.030018749999999997" ixy="0" ixz="0" iyy="0.08335208333333333" iyz="0" izz="0.11333333333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="roof joint" type="fixed">
|
||||
<parent link="chassis_link"/>
|
||||
<child link="roof_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.16"/>
|
||||
</joint>
|
||||
<!-- ............................. CONVEYOR ........................................ -->
|
||||
<!-- ............................................................................... -->
|
||||
</robot>
|
||||
Loading…
Reference in New Issue