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Commit 081899ed authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the dynamic parameters of the model. Still more tunning is required. 

Used custom gazebo plugin configuration files for each of the sensors.
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urdf/include/platform.gazebo
+ 3
− 1
View file @ 081899ed
......@@ -37,7 +37,9 @@
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>model_car</robotNamespace>
<robotNamespace>/model_car</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
</plugin>
</gazebo>
......
urdf/include/platform.xacro
+ 23
− 1
View file @ 081899ed
......@@ -3,11 +3,19 @@
<robot name="model_car" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find model_car_description)/urdf/include/wheel.xacro" />
<xacro:include filename="$(find model_car_description)/urdf/include/platform.gazebo" />
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="angle_limit" value="${PI/3.0}" />
<link name="base_link">
<inertial>
<mass value="0.001" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="0.00000001" ixy="0.00000000" ixz="0.0"
iyy="0.00000001" iyz="0.00000000"
izz="0.00000001" />
</inertial>
</link>
<link name="body">
......@@ -51,6 +59,13 @@
</xacro:wheel>
<link name="steer_left">
<inertial>
<mass value="0.001" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="0.00000001" ixy="0.00000000" ixz="0.0"
iyy="0.00000001" iyz="0.00000000"
izz="0.00000001" />
</inertial>
</link>
<joint name="base_link_2_steer_left_joint" type="revolute">
......@@ -59,7 +74,7 @@
<anchor xyz="0 0 0" />
<parent link="base_link" />
<child link="steer_left" />
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="9.6" velocity="5.3"/>
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="1" velocity="1"/>
<dynamics damping="0.2"/>
</joint>
......@@ -80,6 +95,13 @@
</xacro:wheel>
<link name="steer_right">
<inertial>
<mass value="0.001" />
<origin xyz="0.0 0.0 0.0" />
<inertia ixx="0.00000001" ixy="0.00000000" ixz="0.0"
iyy="0.00000001" iyz="0.00000000"
izz="0.00000001" />
</inertial>
</link>
<joint name="base_link_2_steer_right_joint" type="revolute">
......
urdf/include/sensors.xacro
+ 9
− 9
View file @ 081899ed
......@@ -10,39 +10,39 @@
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:rplidar_laser2d name="front_lidar" prefix="model_car" parent="base_link">
<xacro:rplidar_laser2d name="front_lidar" prefix="model_car" parent="base_link" config_file="$(find model_car_gazebo)/config/rp_lidar_config.yaml">
<origin xyz="0.439 0.0 0.05" rpy="0 ${PI} ${PI}" />
</xacro:rplidar_laser2d>
<xacro:hcsr04_sonar name="side_left" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
<xacro:hcsr04_sonar name="side_left" parent="base_link" sim_config="$(find model_car_gazebo)/config/side_left_sonar_config.yaml">
<origin xyz="0.2585 0.1107 0.0" rpy="-${PI/2.0} ${PI/2.0} 0" />
</xacro:hcsr04_sonar>
<xacro:hcsr04_sonar name="side_right" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
<xacro:hcsr04_sonar name="side_right" parent="base_link" sim_config="$(find model_car_gazebo)/config/side_right_sonar_config.yaml">
<origin xyz="0.2585 -0.1107 0.0" rpy="${PI/2.0} ${PI/2.0} 0" />
</xacro:hcsr04_sonar>
<xacro:hcsr04_sonar name="rear_center" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
<xacro:hcsr04_sonar name="rear_center" parent="base_link" sim_config="$(find model_car_gazebo)/config/rear_center_sonar_config.yaml">
<origin xyz="-0.0882 0.0 0.0" rpy="${PI} ${PI/2.0} 0" />
</xacro:hcsr04_sonar>
<xacro:hcsr04_sonar name="rear_left" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
<xacro:hcsr04_sonar name="rear_left" parent="base_link" sim_config="$(find model_car_gazebo)/config/rear_left_sonar_config.yaml">
<origin xyz="-0.07912 0.09898 0.0" rpy="${PI+PI/6.0} ${PI/2.0} 0" />
</xacro:hcsr04_sonar>
<xacro:hcsr04_sonar name="rear_right" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
<xacro:hcsr04_sonar name="rear_right" parent="base_link" sim_config="$(find model_car_gazebo)/config/rear_right_sonar_config.yaml">
<origin xyz="-0.07912 -0.09898 0.0" rpy="${PI-PI/6.0} ${PI/2.0} 0" />
</xacro:hcsr04_sonar>
<xacro:mpu9250_imu name="imu" parent="base_link" sim_config="$(find iri_imu_gazebo)/config/mpu9250_imu_sim_config.yaml">
<xacro:mpu9250_imu name="imu" parent="base_link" sim_config="$(find model_car_gazebo)/config/mpu9250_imu_config.yaml">
<origin xyz="0.006 0.0 0.0271" rpy="0 0 0" />
</xacro:mpu9250_imu>
<xacro:uvc_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="$(find iri_camera_gazebo)/config/camera_sim_config.yaml">
<xacro:uvc_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="$(find model_car_gazebo)/config/basler_camera_sim_config.yaml">
<origin xyz="0.273 0.0 0.180" rpy="0 0 0" />
</xacro:uvc_camera>
<xacro:uvc_camera name="rear_camera" parent="base_link" resolution="low_res" model="delock" sim_config="$(find iri_camera_gazebo)/config/camera_sim_config.yaml">
<xacro:uvc_camera name="rear_camera" parent="base_link" resolution="low_res" model="delock" sim_config="$(find model_car_gazebo)/config/delock_camera_sim_config.yaml">
<origin xyz="-0.0112 0.0 0.055" rpy="0 0 ${PI}" />
</xacro:uvc_camera>
......
urdf/include/wheel.gazebo
+ 1
− 1
View file @ 081899ed
......@@ -14,7 +14,7 @@
<!-- <kd>1.0</kd>-->
</gazebo>
<gazebo reference="${parent}_2_${name}_wheel">
<gazebo reference="${parent}_2_${name}_wheel_joint">
<implicitSpringDamper>true</implicitSpringDamper>
<stopCfm>0.0</stopCfm>
<stopErp>0.0</stopErp>
......
urdf/include/wheel.xacro
+ 3
− 3
View file @ 081899ed
......@@ -30,17 +30,17 @@
</collision>
</link>
<joint name="${parent}_2_${name}_wheel" type="continuous">
<joint name="${parent}_2_${name}_wheel_joint" type="continuous">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_wheel"/>
<axis xyz="0 0 ${direction}"/>
<limit effort="10000" velocity="10.0"/>
<limit effort="5" velocity="1.0"/>
</joint>
<transmission name="${name}_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${parent}_2_${name}_wheel">
<joint name="${parent}_2_${name}_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_motor">
......
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