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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<?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>
<material name="blue"> <material name="blue">
<color rgba="0.0 0.0 0.8 1.0" /> <color rgba="0.0 0.0 0.8 1.0"/>
</material> </material>
<material name="green"> <material name="green">
<color rgba="0.0 0.8 0.0 1.0" /> <color rgba="0.0 0.8 0.0 1.0"/>
</material> </material>
<material name="yellow"> <material name="yellow">
<color rgba="1.0 1.0 0.0 1.0" /> <color rgba="1.0 1.0 0.0 1.0"/>
</material> </material>
<material name="dark_grey"> <material name="dark_grey">
<color rgba="0.2 0.2 0.2 1.0" /> <color rgba="0.2 0.2 0.2 1.0"/>
</material> </material>
<material name="orange"> <material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0" /> <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material> </material>
<material name="brown"> <material name="brown">
<color rgba="0.5450980392156862 0.27058823529411763 0.07450980392156863 1.0" /> <color rgba="0.5450980392156862 0.27058823529411763 0.07450980392156863 1.0"/>
</material> </material>
<material name="red"> <material name="red">
<color rgba="0.8 0.0 0.0 1.0" /> <color rgba="0.8 0.0 0.0 1.0"/>
</material> </material>
<material name="turquoise"> <material name="turquoise">
<color rgba="0.25098039215686274 0.8784313725490196 0.8156862745098039 1.0" /> <color rgba="0.25098039215686274 0.8784313725490196 0.8156862745098039 1.0"/>
</material> </material>
<material name="purple"> <material name="purple">
<color rgba="0.5019607843137255 0.0 0.5019607843137255 1.0" /> <color rgba="0.5019607843137255 0.0 0.5019607843137255 1.0"/>
</material> </material>
<material name="white"> <material name="white">
<color rgba="1.0 1.0 1.0 1.0" /> <color rgba="1.0 1.0 1.0 1.0"/>
</material> </material>
<material name="aluminium"> <material name="aluminium">
<color rgba="0.5 0.5 0.5 1" /> <color rgba="0.5 0.5 0.5 1"/>
</material> </material>
<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"> <link name="base_footprint"/>
<color rgba="0.15 0.15 0.15 1" /> <link name="base_link"/>
</material>
<link name="base_footprint" />
<link name="base_link" />
<joint name="base_joint" type="fixed"> <joint name="base_joint" type="fixed">
<parent link="base_footprint" /> <parent link="base_footprint"/>
<child link="base_link" /> <child link="base_link"/>
<origin rpy="0 0 0.0" xyz="0.0 0 0.195" /> <origin rpy="0 0 0.0" xyz="0.0 0 0.195"/>
</joint> </joint>
<link name="chassis_link"> <link name="chassis_link">
<collision> <collision>
<origin rpy="0 0 0" xyz="0 0 -0.05" /> <origin rpy="0 0 0" xyz="0 0 -0.05"/>
<geometry> <geometry>
<box size="0.9 0.64 0.19" /> <box size="0.9 0.64 0.19"/>
</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"/>
<inertia ixx="2.5999166666666667" ixy="0" ixz="0" iyy="4.935583333333334" iyz="0" izz="7.114333333333334" /> <inertia ixx="2.5999166666666667" ixy="0" ixz="0" iyy="4.935583333333334" iyz="0" izz="7.114333333333334"/>
</inertial> </inertial>
</link> </link>
<joint name="chassis_joint" type="fixed"> <joint name="chassis_joint" type="fixed">
<parent link="base_link" /> <parent link="base_link"/>
<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"/>
<geometry> <geometry>
<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"/>
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" /> <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
</inertial> </inertial>
<mu>0.0</mu> <mu>0.0</mu>
</link> </link>
<joint name="front_left_wheel_joint" type="fixed"> <joint name="front_left_wheel_joint" type="fixed">
<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>
</gazebo> </gazebo>
<link name="front_right_wheel"> <link name="front_right_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"/>
<geometry> <geometry>
<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"/>
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" /> <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
</inertial> </inertial>
<mu>0.0</mu> <mu>0.0</mu>
</link> </link>
<joint name="front_right_wheel_joint" type="fixed"> <joint name="front_right_wheel_joint" type="fixed">
<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>
</gazebo> </gazebo>
<link name="back_left_wheel"> <link name="back_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"/>
<geometry> <geometry>
<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"/>
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" /> <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
</inertial> </inertial>
<mu>0.0</mu> <mu>0.0</mu>
</link> </link>
<joint name="back_left_wheel_joint" type="fixed"> <joint name="back_left_wheel_joint" type="fixed">
<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>
</gazebo> </gazebo>
<link name="back_right_wheel"> <link name="back_right_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"/>
<geometry> <geometry>
<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"/>
<inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998" /> <inertia ixx="0.00014399999999999998" ixy="0" ixz="0" iyy="0.00014399999999999998" iyz="0" izz="0.00014399999999999998"/>
</inertial> </inertial>
<mu>0.0</mu> <mu>0.0</mu>
</link> </link>
<joint name="back_right_wheel_joint" type="fixed"> <joint name="back_right_wheel_joint" type="fixed">
<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>
</gazebo> </gazebo>
<link name="middle_left_wheel"> <link name="middle_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"/>
<geometry> <geometry>
<cylinder length="0.05" radius="0.1" /> <cylinder length="0.05" radius="0.1"/>
</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"/>
<inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001" /> <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
</inertial> </inertial>
<mu>5.0</mu> <mu>5.0</mu>
</link> </link>
<joint name="middle_left_wheel_joint" type="continuous"> <joint name="middle_left_wheel_joint" type="continuous">
<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>
</gazebo> </gazebo>
<link name="middle_right_wheel"> <link name="middle_right_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"/>
<geometry> <geometry>
<cylinder length="0.05" radius="0.1" /> <cylinder length="0.05" radius="0.1"/>
</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"/>
<inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001" /> <inertia ixx="0.002708333333333334" ixy="0" ixz="0" iyy="0.002708333333333334" iyz="0" izz="0.005000000000000001"/>
</inertial> </inertial>
<mu>5.0</mu> <mu>5.0</mu>
</link> </link>
<joint name="middle_right_wheel_joint" type="continuous"> <joint name="middle_right_wheel_joint" type="continuous">
<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>
<link name="imu_frame" /> <!-- ............................. 2D LIDAR ........................................ -->
<!-- ............................. IMU ........................................ -->
<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"/>
<geometry> <geometry>
<box size="0.07 0.3 0.09" /> <box size="0.07 0.3 0.09"/>
</geometry> </geometry>
</collision> </collision>
<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"/>
<inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05" /> <inertia ixx="8.175e-05" ixy="0" ixz="0" iyy="1.0833333333333335e-05" iyz="0" izz="7.908333333333334e-05"/>
</inertial> </inertial>
</link> </link>
<joint name="stereo_camera_joint" type="fixed"> <joint name="stereo_camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142" /> <origin rpy="0 0 0" xyz="0.45 0 0.027142857142857142"/>
<parent link="base_link" /> <parent link="base_link"/>
<child link="stereo_camera" /> <child link="stereo_camera"/>
</joint> </joint>
<link name="stereo_camera_optical" /> <link name="stereo_camera_optical"/>
<joint name="stereo_camera_optical_joint" type="fixed"> <joint name="stereo_camera_optical_joint" type="fixed">
<origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0" /> <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
<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"/>
<geometry> <geometry>
<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>
</robot> <!-- ............................. CONVEYOR ........................................ -->
<!-- ............................................................................... -->
</robot>