test_dengjun
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3ebe2700b00340d09a1256d3b4a34b9b
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fix

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test_dengjun 2026-09-03 17:40:15 +00:00
parent 0daaffbe3a
commit 6a2fd1dd72
1 changed files with 128 additions and 166 deletions
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src/bcr_bot/robot.urdf
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@ -1,5 +1,11 @@
<?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>
@ -39,12 +45,9 @@
<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>
<material name="light_grey"> <!--................................ INERTIA MATRICES .............................. -->
<color rgba="0.6 0.6 0.6 1" /> <!-- ............................... TROLLEY WHEEL DEFINITION .............................. -->
</material> <!-- ................................ BASE LINK .................................. -->
<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">
@ -60,11 +63,10 @@
</geometry> </geometry>
</collision> </collision>
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 -0.05" /> <origin rpy="0 0 0" xyz="0 0 -0.205"/>
<geometry> <geometry>
<box size="0.9 0.64 0.19" /> <mesh filename="meshes/bcr_bot_mesh.dae" scale="1 1 1"/>
</geometry> </geometry>>
<material name="dark_grey" />
</visual> </visual>
<inertial> <inertial>
<mass value="70"/> <mass value="70"/>
@ -76,6 +78,7 @@
<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"/>
@ -83,13 +86,6 @@
<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"/>
@ -101,7 +97,7 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" xyz="0 1 0"/>
</joint> </joint>
<gazebo reference="front_left_wheel"> <gazebo reference="front_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -113,13 +109,6 @@
<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"/>
@ -131,7 +120,7 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" xyz="0 1 0"/>
</joint> </joint>
<gazebo reference="front_right_wheel"> <gazebo reference="front_right_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -143,13 +132,6 @@
<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"/>
@ -161,7 +143,7 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" xyz="0 1 0"/>
</joint> </joint>
<gazebo reference="back_left_wheel"> <gazebo reference="back_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -173,13 +155,6 @@
<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"/>
@ -191,7 +166,7 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" xyz="0 1 0"/>
</joint> </joint>
<gazebo reference="back_right_wheel"> <gazebo reference="back_right_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -204,13 +179,6 @@
</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"/>
@ -222,7 +190,7 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" xyz="0 1 0"/>
</joint> </joint>
<gazebo reference="middle_left_wheel"> <gazebo reference="middle_left_wheel">
<material>Gazebo/Black</material> <material>Gazebo/Black</material>
@ -235,13 +203,6 @@
</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"/>
@ -253,17 +214,22 @@
<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 xyz="0 1 0" /> <axis rpy="0 0 0" 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"/>
@ -274,9 +240,9 @@
<visual> <visual>
<origin rpy="0 0 0" xyz="0 0 0"/> <origin rpy="0 0 0" xyz="0 0 0"/>
<geometry> <geometry>
<box size="0.07 0.3 0.09" /> <mesh filename="meshes/kinect/d415.dae"/>
</geometry> </geometry>
<material name="camera_grey" /> <material name="black"/>
</visual> </visual>
<inertial> <inertial>
<mass value="0.01"/> <mass value="0.01"/>
@ -294,6 +260,7 @@
<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"/>
@ -301,21 +268,16 @@
<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>