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Commit 6a09f6c6 authored by Sergi Hernandez's avatar Sergi Hernandez
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Merge branch 'sm_modules' into 'master'

Sm modules

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parents aad26e52 ebc72f9a
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1 merge request!3Sm modules
<launch>
<arg name="robot" default="darwin" />
<arg name="environment" default="charge_env" />
<include file="$(find darwin_description)/launch/darwin_sim.launch">
<arg name="robot" value="$(arg robot)" />
</include>
<!-- launch dynamic reconfigure -->
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
output="screen"/>
<include file="$(find darwin_description)/launch/charge_env.launch">
<arg name="environment" value="$(arg environment)" />
</include>
</launch>
<launch>
<arg name="environment" default="charge_env" />
<!-- Convert an xacro and put on parameter server -->
<param name="charge_environment"
command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/charge/$(arg environment).xacro'" />
<node name="spawn_charge_station" pkg="gazebo_ros" type="spawn_model" args="-param charge_environment -urdf -model charge_station -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
</launch>
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<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
<xacro:include filename="$(find darwin_description)/urdf/charge/charge_station.xacro" />
<xacro:obstacle_base name="obstacle_base"/>
<xacro:charge_station name="station" parent="obstacle_base">
<origin xyz="0.5 0.5 0.0" rpy="0 0 0" />
</xacro:charge_station>
</robot>
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
<xacro:macro name="charge_station" params="name parent *origin">
<!-- charge station support -->
<link name="${name}_support_link">
<inertial>
<mass value="0.20000000"/>
<origin xyz="0.00000000 0.00000000 0.25000000" rpy="0 0 0"/>
<inertia ixx="0.00417484" ixy="0.0" ixz="0.0" iyy="0.00417484" iyz="0.0" izz="0.00001634" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/charge_support.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/charge_support.stl"/>
</geometry>
</collision>
</link>
<joint name="${name}_support_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}_link"/>
<child link="${name}_support_link"/>
</joint>
<!-- charge station far QR -->
<link name="${name}_far_qr_link">
<inertial>
<mass value="0.10000000"/>
<origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
<inertia ixx="0.00017000" ixy="0.0" ixz="0.0" iyy="0.00017000" iyz="0.0" izz="0.00017333" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/far_qr.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/far_qr.stl"/>
</geometry>
</collision>
</link>
<joint name="${name}_far_qr_joint" type="fixed">
<origin xyz="0.0 0.0 0.4" rpy="0 0 0"/>
<parent link="${name}_support_link"/>
<child link="${name}_far_qr_link"/>
</joint>
<xacro:qrcode name="${name}_north" parent="${name}_far_qr" code="N1" size="0.07">
<origin xyz="0.0501 0.0 0.0" rpy="-1.5707 0 1.5707" />
</xacro:qrcode>
<xacro:qrcode name="${name}_south" parent="${name}_far_qr" code="S1" size="0.07">
<origin xyz="-0.0501 0.0 0.0" rpy="-1.5707 0 -1.5707" />
</xacro:qrcode>
<xacro:qrcode name="${name}_west" parent="${name}_far_qr" code="W1" size="0.07">
<origin xyz="0.0 0.0501 0.0" rpy="1.5707 3.14159 0" />
</xacro:qrcode>
<xacro:qrcode name="${name}_east" parent="${name}_far_qr" code="E1" size="0.07">
<origin xyz="0.0 -0.0501 0.0" rpy="1.5707 3.14159 3.14159 " />
</xacro:qrcode>
<!-- charge station connector -->
<link name="${name}_connector_link">
<inertial>
<mass value="0.10000000"/>
<origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
<inertia ixx="0.00014464" ixy="0.0" ixz="0.0" iyy="0.00014464" iyz="0.0" izz="0.00028761" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/connector.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/connector.stl"/>
</geometry>
</collision>
</link>
<joint name="${name}_connector_joint" type="fixed">
<origin xyz="0.0 0.0 0.2" rpy="0 0 0"/>
<parent link="${name}_support_link"/>
<child link="${name}_connector_link"/>
</joint>
<!-- charge station near_qr -->
<link name="${name}_near_qr_link">
<inertial>
<mass value="0.10000000"/>
<origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
<inertia ixx="0.00008564" ixy="0.0" ixz="0.0" iyy="0.00008564" iyz="0.0" izz="0.00016968" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/near_qr.stl"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://darwin_description/meshes/charge/near_qr.stl"/>
</geometry>
</collision>
</link>
<joint name="${name}_near_qr_joint" type="fixed">
<origin xyz="0.0 0.0 0.3" rpy="0 0 0"/>
<parent link="${name}_support_link"/>
<child link="${name}_near_qr_link"/>
</joint>
<gazebo reference="${name}_support_link">
<!-- <gravity>true</gravity>
<selfCollide>false</selfCollide>
<maxContacts>10</maxContacts>
<dampingFactor>0.2</dampingFactor>
<maxVel>0.0</maxVel>
<minDepth>0.0</minDepth>
<mu1>0.200000</mu1>
<mu2>0.200000</mu2>
<kp>0.0</kp>
<kd>0.0</kd>-->
</gazebo>
<!-- <gazebo reference="${name}_support_joint">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
</gazebo>-->
</xacro:macro>
</root>
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