test_dengjun
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3ebe2700b00340d09a1256d3b4a34b9b
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fix

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test_dengjun 2026-09-03 17:37:15 +00:00
parent d1213f9943
commit 0daaffbe3a
1 changed files with 165 additions and 127 deletions
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src/bcr_bot/robot.urdf
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@ -1,11 +1,5 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /workspace/src/bcr_bot/urdf/bcr_bot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="bcr_bot"> <robot name="bcr_bot">
<!--................................ XACRO CONSTANTS .............................. -->
<!-- ............................... LOAD MACROS ................................. -->
<material name="black"> <material name="black">
<color rgba="0.0 0.0 0.0 1.0" /> <color rgba="0.0 0.0 0.0 1.0" />
</material> </material>
@ -45,9 +39,12 @@
<material name="plastic"> <material name="plastic">
<color rgba="0.1 0.1 0.1 1" /> <color rgba="0.1 0.1 0.1 1" />
</material> </material>
<!--................................ INERTIA MATRICES .............................. --> <material name="light_grey">
<!-- ............................... TROLLEY WHEEL DEFINITION .............................. --> <color rgba="0.6 0.6 0.6 1" />
<!-- ................................ BASE LINK .................................. --> </material>
<material name="camera_grey">
<color rgba="0.15 0.15 0.15 1" />
</material>
<link name="base_footprint" /> <link name="base_footprint" />
<link name="base_link" /> <link name="base_link" />
<joint name="base_joint" type="fixed"> <joint name="base_joint" type="fixed">
@ -63,10 +60,11 @@
</geometry> </geometry>
</collision> </collision>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 -0.205"/> <origin rpy="0 0 0" xyz="0 0 -0.05" />
<geometry> <geometry>
<mesh filename="meshes/bcr_bot_mesh.dae" scale="1 1 1"/> <box size="0.9 0.64 0.19" />
</geometry>> </geometry>
<material name="dark_grey" />
</visual> </visual>
<inertial> <inertial>
<mass value="70" /> <mass value="70" />
@ -78,7 +76,6 @@
<child link="chassis_link" /> <child link="chassis_link" />
<origin rpy="0 0 0.0" xyz="0.0 0 0" /> <origin rpy="0 0 0.0" xyz="0.0 0 0" />
</joint> </joint>
<!-- ................................ WHEELS ..................................... -->
<link name="front_left_wheel"> <link name="front_left_wheel">
<collision> <collision>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" /> <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
@ -86,6 +83,13 @@
<sphere radius="0.06" /> <sphere radius="0.06" />
</geometry> </geometry>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<sphere radius="0.06" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.1" /> <mass value="0.1" />
@ -97,7 +101,7 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="front_left_wheel" /> <child link="front_left_wheel" />
<origin rpy="0 0 0" xyz="0.45 0.27 -0.155" /> <origin rpy="0 0 0" xyz="0.45 0.27 -0.155" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="front_left_wheel"> <gazebo reference="front_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -109,6 +113,13 @@
<sphere radius="0.06" /> <sphere radius="0.06" />
</geometry> </geometry>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<sphere radius="0.06" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.1" /> <mass value="0.1" />
@ -120,7 +131,7 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="front_right_wheel" /> <child link="front_right_wheel" />
<origin rpy="0 0 0" xyz="0.45 -0.27 -0.155" /> <origin rpy="0 0 0" xyz="0.45 -0.27 -0.155" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="front_right_wheel"> <gazebo reference="front_right_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -132,6 +143,13 @@
<sphere radius="0.06" /> <sphere radius="0.06" />
</geometry> </geometry>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<sphere radius="0.06" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.1" /> <mass value="0.1" />
@ -143,7 +161,7 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="back_left_wheel" /> <child link="back_left_wheel" />
<origin rpy="0 0 0" xyz="-0.45 0.27 -0.155" /> <origin rpy="0 0 0" xyz="-0.45 0.27 -0.155" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="back_left_wheel"> <gazebo reference="back_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -155,6 +173,13 @@
<sphere radius="0.06" /> <sphere radius="0.06" />
</geometry> </geometry>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<sphere radius="0.06" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
<mass value="0.1" /> <mass value="0.1" />
@ -166,7 +191,7 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="back_right_wheel" /> <child link="back_right_wheel" />
<origin rpy="0 0 0" xyz="-0.45 -0.27 -0.155" /> <origin rpy="0 0 0" xyz="-0.45 -0.27 -0.155" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="back_right_wheel"> <gazebo reference="back_right_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -179,6 +204,13 @@
</geometry> </geometry>
<self_collide>false</self_collide> <self_collide>false</self_collide>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.1" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" /> <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<mass value="1" /> <mass value="1" />
@ -190,7 +222,7 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="middle_left_wheel" /> <child link="middle_left_wheel" />
<origin rpy="0 0 0" xyz="0 0.3 -0.11699999999999999" /> <origin rpy="0 0 0" xyz="0 0.3 -0.11699999999999999" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="middle_left_wheel"> <gazebo reference="middle_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -203,6 +235,13 @@
</geometry> </geometry>
<self_collide>false</self_collide> <self_collide>false</self_collide>
</collision> </collision>
<visual>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<geometry>
<cylinder length="0.05" radius="0.1" />
</geometry>
<material name="black" />
</visual>
<inertial> <inertial>
<origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" /> <origin rpy="0 1.5707963267948966 1.5707963267948966" xyz="0 0 0" />
<mass value="1" /> <mass value="1" />
@ -214,22 +253,17 @@
<parent link="base_link" /> <parent link="base_link" />
<child link="middle_right_wheel" /> <child link="middle_right_wheel" />
<origin rpy="0 0 0" xyz="0 -0.3 -0.11699999999999999" /> <origin rpy="0 0 0" xyz="0 -0.3 -0.11699999999999999" />
<axis rpy="0 0 0" xyz="0 1 0"/> <axis xyz="0 1 0" />
</joint> </joint>
<gazebo reference="middle_right_wheel"> <gazebo reference="middle_right_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
</gazebo> </gazebo>
<!-- ............................. 2D LIDAR ........................................ -->
<!-- ............................. IMU ........................................ -->
<link name="imu_frame" /> <link name="imu_frame" />
<joint name="imu_joint" type="fixed"> <joint name="imu_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link" />
<child link="imu_frame" /> <child link="imu_frame" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08" /> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08" />
</joint> </joint>
<!-- ............................. CAMERA ........................................ -->
<!-- .............................STEREO CAMERA ........................................ -->
<!-- STEREO CAMERA -->
<link name="stereo_camera"> <link name="stereo_camera">
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
@ -240,9 +274,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
<geometry> <geometry>
<mesh filename="meshes/kinect/d415.dae"/> <box size="0.07 0.3 0.09" />
</geometry> </geometry>
<material name="black"/> <material name="camera_grey" />
</visual> </visual>
<inertial> <inertial>
<mass value="0.01" /> <mass value="0.01" />
@ -260,7 +294,6 @@
<parent link="stereo_camera" /> <parent link="stereo_camera" />
<child link="stereo_camera_optical" /> <child link="stereo_camera_optical" />
</joint> </joint>
<!-- ............................. ROOF ........................................ -->
<link name="roof_link"> <link name="roof_link">
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 0" /> <origin rpy="0 0 0" xyz="0 0 0" />
@ -268,16 +301,21 @@
<box size="0.9 0.64 0.015" /> <box size="0.9 0.64 0.015" />
</geometry> </geometry>
</collision> </collision>
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="0.9 0.64 0.015" />
</geometry>
<material name="light_grey" />
</visual>
<inertial> <inertial>
<mass value="1" /> <mass value="1" />
<inertia ixx="0.030018749999999997" ixy="0" ixz="0" iyy="0.08335208333333333" iyz="0" izz="0.11333333333333333" /> <inertia ixx="0.030018749999999997" ixy="0" ixz="0" iyy="0.08335208333333333" iyz="0" izz="0.11333333333333333" />
</inertial> </inertial>
</link> </link>
<joint name="roof joint" type="fixed"> <joint name="roof_joint" type="fixed">
<parent link="chassis_link" /> <parent link="chassis_link" />
<child link="roof_link" /> <child link="roof_link" />
<origin rpy="0 0 0" xyz="0 0 0.16" /> <origin rpy="0 0 0" xyz="0 0 0.16" />
</joint> </joint>
<!-- ............................. CONVEYOR ........................................ -->
<!-- ............................................................................... -->
</robot> </robot>