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Commit bbc5aa87 authored by Fernando Herrero's avatar Fernando Herrero
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Added xacro files and meshes

parent e84c39a4
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...@@ -10,10 +10,27 @@ ...@@ -10,10 +10,27 @@
<xacro:include filename="$(find iri_segway_rmp200_description)/urdf/caster_support_wheels.xacro" /> <xacro:include filename="$(find iri_segway_rmp200_description)/urdf/caster_support_wheels.xacro" />
<xacro:caster_support_wheels/> <xacro:caster_support_wheels/>
<xacro:include filename="$(find iri_dabo_description)/urdf/body.xacro" /> <xacro:include filename="$(find iri_dabo_description)/urdf/include/body.xacro" />
<xacro:body name="$(arg name)" parent="top_plate"/> <xacro:body name="$(arg name)" parent="top_plate">
<origin xyz="0 0 0" rpy="0 0 0" />
<xacro:include filename="$(find iri_dabo_description)/urdf/sensors.xacro" /> </xacro:body>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/sensors.xacro" />
<xacro:sensors name="$(arg name)" parent="base_link"/> <xacro:sensors name="$(arg name)" parent="base_link"/>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/head.xacro" />
<xacro:head name="$(arg name)" parent="top_plate">
<origin xyz="0 0 0.7" rpy="0 0 0" />
</xacro:head>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm.xacro" />
<xacro:arm name="$(arg name)" prefix="left" parent="top_plate">
<origin xyz="0 0.25 0.5" rpy="0.15 0 0" />
</xacro:arm>
<xacro:include filename="$(find iri_dabo_description)/urdf/include/arm.xacro" />
<xacro:arm name="$(arg name)" prefix="right" parent="top_plate">
<origin xyz="0 -0.25 0.5" rpy="0.15 0 3.14159" />
</xacro:arm>
</robot> </robot>
\ No newline at end of file
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="arm" params="prefix name parent *origin">
<link name="${prefix}_arm">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/arm_low.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.025 -0.15" rpy="0 0 0"/>
<geometry>
<cylinder length="0.4" radius="0.07"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1"/>
<inertia
ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001"/>
</inertial>
</link>
<joint name="${parent}2${prefix}_arm_joint" type="fixed" >
<parent link="${parent}"/>
<child link="${prefix}_arm"/>
<xacro:insert_block name="origin"/>
</joint>
</xacro:macro>
</root>
...@@ -2,13 +2,13 @@ ...@@ -2,13 +2,13 @@
<root xmlns:xacro="http://ros.org/wiki/xacro"> <root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="body" params="name parent"> <xacro:macro name="body" params="name parent *origin">
<link name="body"> <link name="body">
<visual> <visual>
<origin xyz="0 0 -0.48" rpy="0 0 0"/> <origin xyz="0 0 -0.48" rpy="0 0 0"/>
<geometry> <geometry>
<mesh filename="package://iri_dabo_description/meshes/body.dae"/> <mesh filename="package://iri_dabo_description/meshes/body_low_dabo.dae"/>
</geometry> </geometry>
</visual> </visual>
<inertial> <inertial>
...@@ -24,7 +24,7 @@ ...@@ -24,7 +24,7 @@
<joint name="${parent}2body_joint" type="fixed"> <joint name="${parent}2body_joint" type="fixed">
<parent link="${parent}"/> <parent link="${parent}"/>
<child link="body"/> <child link="body"/>
<origin rpy="0 0 0" xyz="0 0 0.0"/> <xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
......
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="head" params="name parent *origin">
<link name="head">
<visual>
<origin rpy="1.5707 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://iri_dabo_description/meshes/head_low_dabo.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0.05" rpy="0 0 0"/>
<geometry>
<sphere radius="0.15"/>
</geometry>
</collision>
<inertial>
<origin xyz="0.07366358 0.00094968 -0.00868937" rpy="0 0 0"/>
<mass value="1.0"/>
<inertia
ixx="0.00966943" ixy="-0.00004500" ixz="-0.00064634"
iyy="0.00845836" iyz="0.00001799"
izz="0.00750394"/>
</inertial>
</link>
<joint name="${parent}2head_joint" type="fixed">
<parent link="${parent}"/>
<child link="head"/>
<xacro:insert_block name="origin"/>
<axis xyz="0 0 1"/>
</joint>
</xacro:macro>
</root>
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