323 lines
11 KiB
XML
323 lines
11 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="bcr_bot">
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<!--................................ XACRO CONSTANTS .............................. -->
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<xacro:property name="chassis_mass" value="70"/>
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<xacro:property name="chassis_length" value="0.9"/>
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<xacro:property name="chassis_width" value="0.64"/>
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<xacro:property name="chassis_height" value="0.19"/>
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<xacro:property name="traction_wheel_mass" value="1"/>
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<xacro:property name="traction_wheel_base" value="0.88"/>
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<xacro:property name="traction_max_wheel_torque" value="20000"/>
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<xacro:property name="traction_wheel_friction" value="5.0"/>
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<xacro:property name="trolley_wheel_mass" value="0.1"/>
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<xacro:property name="trolley_track_width" value="0.54"/>
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<xacro:property name="trolley_wheel_friction" value="0.0"/>
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<xacro:property name="trolley_wheel_radius" value="0.06"/>
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<!-- a small constant -->
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<xacro:property name="eps" value="0.002"/>
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<xacro:property name="traction_wheel_radius" value="0.1"/>
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<xacro:property name="traction_wheel_width" value="0.05"/>
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<xacro:property name="traction_track_width" value="0.6"/>
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<xacro:property name="two_d_lidar_update_rate" value="30"/>
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<xacro:property name="two_d_lidar_sample_size" value="361"/>
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<xacro:property name="two_d_lidar_min_angle" value="0"/>
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<xacro:property name="two_d_lidar_max_angle" value="360"/>
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<xacro:property name="two_d_lidar_min_range" value="0.55"/>
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<xacro:property name="two_d_lidar_max_range" value="16"/>
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<xacro:property name="camera_baseline" value="0.06"/>
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<xacro:property name="camera_height" value="0.10"/>
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<xacro:property name="camera_horizontal_fov" value="60"/>
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<xacro:arg name="robot_namespace" default=""/>
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<xacro:arg name="wheel_odom_topic" default="odom" />
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<xacro:arg name="camera_enabled" default="false" />
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<xacro:arg name="stereo_camera_enabled" default="false" />
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<xacro:arg name="two_d_lidar_enabled" default="false" />
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<xacro:arg name="publish_wheel_odom_tf" default="true" />
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<xacro:arg name="conveyor_enabled" default="false"/>
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<xacro:arg name="ground_truth_frame" default="map"/>
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<xacro:arg name="sim_gazebo" default="false" />
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<xacro:arg name="sim_ign" default="false" />
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<xacro:arg name="sim_gz" default="false" />
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<xacro:arg name="odometry_source" default="world" />
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<xacro:property name="odometry_source" value="$(arg odometry_source)"/>
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<!-- ............................... LOAD MACROS ................................. -->
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<xacro:include filename="$(find bcr_bot)/urdf/materials.xacro"/>
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<xacro:include filename="$(find bcr_bot)/urdf/macros.xacro"/>
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<xacro:if value="$(arg sim_gazebo)">
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<xacro:include filename="$(find bcr_bot)/urdf/gazebo.xacro"/>
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</xacro:if>
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<xacro:if value="$(arg sim_ign)">
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<xacro:include filename="$(find bcr_bot)/urdf/ign.xacro"/>
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</xacro:if>
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<xacro:if value="$(arg sim_gz)">
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<xacro:include filename="$(find bcr_bot)/urdf/gz.xacro"/>
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</xacro:if>
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<!-- ................................ BASE LINK .................................. -->
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<link name="base_footprint"/>
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<link name="base_link"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<origin xyz="0.0 0 ${chassis_height/2 + traction_wheel_radius}" rpy="0 0 0.0" />
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</joint>
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<link name="chassis_link">
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<collision>
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<origin xyz="0 0 -0.05" rpy="0 0 0" />
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<geometry>
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<box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 -0.205" rpy="0 0 0" />
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<geometry>
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<mesh filename="file://$(find bcr_bot)/meshes/bcr_bot_mesh.dae" scale="1 1 1"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="${chassis_mass}" />
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<xacro:box_inertia m="${chassis_mass}" x="${chassis_length}" y="${chassis_width}" z = "${chassis_height}"/>
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</inertial>
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</link>
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link"/>
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<child link="chassis_link"/>
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<origin xyz="0.0 0 0" rpy="0 0 0.0" />
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</joint>
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<!-- ................................ WHEELS ..................................... -->
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<xacro:trolley_wheel cardinality="front" dexterity="left" origin_x="${chassis_length/2}" origin_y="${trolley_track_width/2}" origin_z="-${trolley_wheel_radius+chassis_height/2}"/>
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<xacro:trolley_wheel cardinality="front" dexterity="right" origin_x="${chassis_length/2}" origin_y="-${trolley_track_width/2}" origin_z="-${trolley_wheel_radius+chassis_height/2}"/>
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<xacro:trolley_wheel cardinality="back" dexterity="left" origin_x="-${chassis_length/2}" origin_y="${trolley_track_width/2}" origin_z="-${trolley_wheel_radius+chassis_height/2}"/>
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<xacro:trolley_wheel cardinality="back" dexterity="right" origin_x="-${chassis_length/2}" origin_y="-${trolley_track_width/2}" origin_z="-${trolley_wheel_radius+chassis_height/2}"/>
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<xacro:traction_wheel cardinality="middle" dexterity="left" origin_x="0" origin_y="${traction_track_width/2}" origin_z="-${chassis_height/2+2*trolley_wheel_radius+eps-traction_wheel_radius}"/>
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<xacro:traction_wheel cardinality="middle" dexterity="right" origin_x="0" origin_y="-${traction_track_width/2}" origin_z="-${chassis_height/2+2*trolley_wheel_radius+eps-traction_wheel_radius}"/>
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<!-- ............................. 2D LIDAR ........................................ -->
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<xacro:if value="$(arg two_d_lidar_enabled)">
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<link name="two_d_lidar">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.06" radius="0.075"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<cylinder length="0.06" radius="0.075"/>
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</geometry>
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<material name="aluminium"/>
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</visual>
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="0.1"/>
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<xacro:cylinder_inertia m="0.1" r="0.075" h="0.06"/>
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</inertial>
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</link>
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<joint name="two_d_lidar_joint" type="fixed">
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<parent link="base_link"/>
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<child link="two_d_lidar"/>
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<origin xyz="0.0 0 0.08" rpy="0 0 0" />
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</joint>
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<gazebo reference="two_d_lidar">
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<material>Gazebo/White</material>
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</gazebo>
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</xacro:if>
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<!-- ............................. IMU ........................................ -->
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<link name="imu_frame"/>
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<joint name="imu_joint" type="fixed">
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<parent link="base_link"/>
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<child link="imu_frame"/>
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<origin xyz="0.0 0.0 0.08" rpy="0.0 0.0 0.0"/>
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</joint>
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<!-- ............................. CAMERA ........................................ -->
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<xacro:if value="$(arg camera_enabled)">
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<!-- KINECT CAMERA -->
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<link name="kinect_camera">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.07 0.3 0.09"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="file://$(find bcr_bot)/meshes/kinect/d415.dae"/>
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="0.01"/>
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<xacro:box_inertia m="0.01" x="0.07" y="0.3" z = "0.09"/>
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</inertial>
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</link>
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<joint name="kinect_camera_joint" type="fixed">
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<origin rpy="0 0 0" xyz="${chassis_length/2} 0 ${chassis_height/7}"/>
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<parent link="base_link"/>
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<child link="kinect_camera"/>
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</joint>
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<link name="kinect_camera_optical"/>
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<joint name="kinect_camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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<parent link="kinect_camera"/>
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<child link="kinect_camera_optical"/>
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</joint>
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</xacro:if>
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<!-- .............................STEREO CAMERA ........................................ -->
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<xacro:if value="$(arg stereo_camera_enabled)">
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<!-- STEREO CAMERA -->
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<link name="stereo_camera">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="0.07 0.3 0.09"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="file://$(find bcr_bot)/meshes/kinect/d415.dae"/>
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</geometry>
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<material name="black"/>
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</visual>
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<inertial>
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<mass value="0.01"/>
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<xacro:box_inertia m="0.01" x="0.07" y="0.3" z = "0.09"/>
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</inertial>
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</link>
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<joint name="stereo_camera_joint" type="fixed">
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<origin rpy="0 0 0" xyz="${chassis_length/2} 0 ${chassis_height/7}"/>
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<parent link="base_link"/>
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<child link="stereo_camera"/>
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</joint>
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<link name="stereo_camera_optical"/>
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<joint name="stereo_camera_optical_joint" type="fixed">
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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<parent link="stereo_camera"/>
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<child link="stereo_camera_optical"/>
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</joint>
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</xacro:if>
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<!-- ............................. ROOF ........................................ -->
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<link name="roof_link">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="${chassis_length} ${chassis_width} 0.015"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1"/>
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<xacro:box_inertia m="1" x="1" y="0.6" z = "0.015"/>
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</inertial>
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</link>
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<joint name="roof joint" type="fixed">
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<parent link="chassis_link"/>
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<child link="roof_link"/>
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<origin xyz="0 0 0.16" rpy="0 0 0" />
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</joint>
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<!-- ............................. CONVEYOR ........................................ -->
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<xacro:if value="$(arg conveyor_enabled)">
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<link name="conveyor_belt">
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<box size="1 0.6 0.015"/>
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</geometry>
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</collision>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="1 0.6 0.015"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="1"/>
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<xacro:box_inertia m="1" x="1" y="0.6" z = "0.015"/>
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</inertial>
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</link>
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<joint name="conveyor_joint" type="fixed">
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<parent link="base_link"/>
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<child link="conveyor_belt"/>
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<origin xyz="0 0 0.25" rpy="0 0 0" />
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</joint>
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</xacro:if>
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<!-- ............................................................................... -->
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</robot>
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