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Commit f47bdeb8 authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the senors description file.

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launch/description.launch
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......@@ -33,4 +33,4 @@
</include>
</group>
</launch>
\ No newline at end of file
</launch>
urdf/helena.xacro
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− 4
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......@@ -5,12 +5,11 @@
<xacro:arg name="name" default="helena"/>
<xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
<xacro:include filename="$(find iri_helena_description)/urdf/include/helena_sensors.xacro" />
<xacro:include filename="$(find iri_helena_description)/urdf/include/sensors.xacro" />
<xacro:pioneer3 name="$(arg name)" sim_config="$(find iri_helena_gazebo)/config/helena_sim_config.yaml">
</xacro:pioneer3>
<xacro:helena_sensors name="$(arg name)" parent="base_link">
<origin xyz="0.0 0.0 0.27" rpy="0 0 3.14159" />
</xacro:helena_sensors>
<xacro:sensors name="$(arg name)" parent="top_plate">
</xacro:sensors>
</robot>
urdf/include/helena_sensors.xacro deleted 100644 → 0
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<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_hokuyo_laser2d_description)/urdf/hokuyo_laser2d.xacro" />
<xacro:macro name="helena_sensors" params="name parent *origin">
<link name="sensors_base">
<inertial>
<mass value="4.00000000" />
<origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
<inertia ixx="0.15364469" ixy="0.00000000" ixz="0.00406514"
iyy="0.17441562" iyz="0.00000000"
izz="0.11019687" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iri_helena_description/meshes/low_res_helena_payload.stl" />
</geometry>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iri_helena_description/meshes/low_res_helena_payload.stl" />
</geometry>
</collision>
</link>
<gazebo reference="sensors_base">
<material>Gazebo/Grey</material>
</gazebo>
<joint name="joint_${parent}_to_sensors_base" type="fixed" >
<parent link="${parent}"/>
<child link="sensors_base"/>
<xacro:insert_block name="origin" />
</joint>
<xacro:hokuyo_laser2d name="rear" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/rear_hokuyo_utm30lx.yaml">
<origin xyz="0.13121 -0.18921 0.063" rpy="0 0 -0.785" />
</xacro:hokuyo_laser2d>
<xacro:hokuyo_laser2d name="front" prefix="${name}" parent="sensors_base" mesh_resolution="low_res" model="utm30lx" config_file="$(find iri_helena_gazebo)/config/front_hokuyo_utm30lx.yaml">
<origin xyz="-0.13121 +0.18921 0.063" rpy="0 0 2.36" />
</xacro:hokuyo_laser2d>
</xacro:macro>
</root>
urdf/include/sensors.xacro 0 → 100644
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− 0
View file @ f47bdeb8
<?xml version="1.0"?>
<root xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find iri_robosense_lidar_description)/urdf/rslidar16.xacro" />
<!-- <xacro:include filename="$(find iri_realsense_depth_description)/urdf/realsense.xacro" />-->
<xacro:include filename="$(find iri_bno055_imu_description)/urdf/bno055_imu.xacro" />
<xacro:macro name="sensors" params="name parent">
<link name="${name}_box">
<inertial>
<mass value="4.00000000" />
<origin xyz="-0.02349208 0.00000000 0.20998619" rpy="0 0 0"/>
<inertia ixx="0.15364469" ixy="0.00000000" ixz="0.00406514"
iyy="0.17441562" iyz="0.00000000"
izz="0.11019687" />
</inertial>
<visual>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.3 0.2"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.1" rpy="0 0 0"/>
<geometry>
<box size="0.3 0.3 0.2"/>
</geometry>
</collision>
</link>
<gazebo reference="${name}_box">
<material>Gazebo/Black</material>
</gazebo>
<joint name="joint_${parent}_to_${name}_box" type="fixed" >
<parent link="${parent}"/>
<child link="${name}_box"/>
<origin xyz="0 0 0.3" rpy="0 0 0"/>
</joint>
<xacro:rslidar16 name="robosense" parent="${parent}" resolution="high_res" sim_config="$(find iri_helena_gazebo)/config/helena_robosense_config.yaml">
<origin xyz="0.0 0.0 0.034" rpy="0 0.0 3.14159" />
</xacro:rslidar16>
<!--
<link name="${name}_realsense_support">
</link>
<joint name="joint_${parent}_to_${name}_realsense_support" type="fixed" >
<parent link="${parent}"/>
<child link="${name}_realsense_support"/>
<origin xyz="0.26374 0 -0.0485" rpy="0 0 0"/>
</joint>
<xacro:realsense_depth parent="${name}_realsense_support" model="d435" sim_config="$(find iri_helena_gazebo)/config/helena_realsense_config.yaml">
<origin xyz="0.0 0.0 0.0265" rpy="0 0.26 0" />
</xacro:realsense_depth>
-->
<xacro:bno055_imu name="imu" parent="base_footprint" resolution="low_res" sim_config="$(find iri_helena_gazebo)/config/helena_bno055_config.yaml">
<origin xyz="0.11928 -0.08805 0.23061" rpy="0 -1.5707 0" />
</xacro:bno055_imu>
</xacro:macro>
</root>
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