Merge branch 'development' into 'master'

Solved several problems with the URDF model of the car:

See merge request !2

launch/description.launch

@@ -3,10 +3,11 @@
 
   <arg name="name" default="model_car"/>
   <arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
+  <arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro"/>
 
   <group ns="$(arg name)">
     <param name="robot_description"
-           command="$(find xacro)/xacro '$(find iri_model_car_description)/urdf/car.xacro' name:=$(arg name) sim_config_path:=$(arg sim_config_path)" />
+           command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) sim_config_path:=$(arg sim_config_path)" />
 
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="tf_broadcaster_$(arg name)">
       <param name="publish_frequency" type="double" value="50.0"/>

launch/description_test.launch

@@ -3,10 +3,12 @@
   
   <arg name="name"  default="model_car"/>
   <arg name="sim_config_path" default="$(find iri_model_car_gazebo)/config"/>
+  <arg name="model" default="$(find iri_model_car_description)/urdf/car.xacro"/>
 
   <include file="$(find iri_model_car_description)/launch/description.launch">
     <arg name="name"  value="$(arg name)"/>
     <arg name="sim_config_path" value="$(arg sim_config_path)"/>
+    <arg name="model" value="$(arg model)"/>
   </include>
 
   <group ns="$(arg name)">  

urdf/include/platform.xacro

@@ -32,11 +32,11 @@
   
     <link name="body">
       <inertial>
-        <mass value="5.66119736" />
-        <origin xyz="0.18422506 0.00000000 0.0504506" />
-        <inertia ixx="0.02201830" ixy="0.00000000" ixz="-0.00092111"
-                 iyy="0.06244486" iyz="0.00000000" 
-                 izz="0.06627095" />
+        <mass value="5.55765386" />
+        <origin xyz="0.17733236 -0.00000114 0.05669225" />
+        <inertia ixx="0.02310947" ixy="0.00000076" ixz="0.00005282"
+                 iyy="0.03978133" iyz="0.00000036" 
+                 izz="0.04842272" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -62,12 +62,12 @@
     <!-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WHEELS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -->
     <!-- ======= REAR LEFT ======= -->
     <xacro:wheel name="rear_left" parent="base_link" direction="1.0">
-      <origin xyz="0 0.108 0" rpy="${PI/2.0} 0 ${PI}" />
+      <origin xyz="0 0.1335 0.012" rpy="${PI/2.0} 0 ${PI}" />
     </xacro:wheel>
 
     <!-- ======= REAR RIGHT ======= -->
     <xacro:wheel name="rear_right" parent="base_link" direction="-1.0">
-      <origin xyz="0 -0.108 0" rpy="${PI/2.0} 0 0" />
+      <origin xyz="0 -0.1335 0.012" rpy="${PI/2.0} 0 0" />
     </xacro:wheel>
 
     <link name="steer_left">
@@ -81,7 +81,7 @@
     </link>
 
     <joint name="base_link_2_steer_left_joint" type="revolute">
-      <origin xyz="0.3666 0.108 0" rpy="0 0 0" />
+      <origin xyz="0.360 0.1335 0.012" rpy="0 0 0" />
       <axis xyz="0 0 1" />
       <anchor xyz="0 0 0" />
       <parent link="base_link" />
@@ -117,7 +117,7 @@
     </link>
 
     <joint name="base_link_2_steer_right_joint" type="revolute">
-      <origin xyz="0.3666 -0.108 0" rpy="0 0 0" />
+      <origin xyz="0.360 -0.1335 0.012" rpy="0 0 0" />
       <axis xyz="0 0 1" />
       <anchor xyz="0 0 0" />
       <parent link="base_link" />

urdf/include/sensors.xacro

@@ -13,27 +13,27 @@
   <xacro:macro name="sensors" params="name sim_config_path">  
 
     <xacro:rplidar_laser2d name="front_lidar" prefix="model_car" parent="base_link" config_file="${sim_config_path}/rp_lidar_config.yaml">
-      <origin xyz="0.439 0.0 0.05" rpy="0 ${PI} 0" />
+      <origin xyz="0.439 0.0 0.039" rpy="0 ${PI} 0" />
     </xacro:rplidar_laser2d>
 
     <xacro:hcsr04_sonar name="side_left" parent="base_link" sim_config="${sim_config_path}/side_left_sonar_config.yaml">
-      <origin xyz="0.2585 0.1107 0.0" rpy="-${PI/2.0} ${PI/2.0} 0" />
+      <origin xyz="0.2585 0.1362 0.012" rpy="-${PI/2.0} ${PI/2.0} 0" />
     </xacro:hcsr04_sonar>
 
     <xacro:hcsr04_sonar name="side_right" parent="base_link" sim_config="${sim_config_path}/side_right_sonar_config.yaml">
-      <origin xyz="0.2585 -0.1107 0.0" rpy="${PI/2.0} ${PI/2.0} 0" />
+      <origin xyz="0.2585 -0.1362 0.012" rpy="${PI/2.0} ${PI/2.0} 0" />
     </xacro:hcsr04_sonar>
 
     <xacro:hcsr04_sonar name="rear_center" parent="base_link" sim_config="${sim_config_path}/rear_center_sonar_config.yaml">
-      <origin xyz="-0.0882 0.0 0.0" rpy="${PI} ${PI/2.0} 0" />
+      <origin xyz="-0.095 0.0 0.012" rpy="${PI} ${PI/2.0} 0" />
     </xacro:hcsr04_sonar>
 
     <xacro:hcsr04_sonar name="rear_left" parent="base_link" sim_config="${sim_config_path}/rear_left_sonar_config.yaml">
-      <origin xyz="-0.07912 0.09898 0.0" rpy="${PI+PI/6.0} ${PI/2.0} 0" />
+      <origin xyz="-0.07912 0.12448 0.012" rpy="${PI+PI/6.0} ${PI/2.0} 0" />
     </xacro:hcsr04_sonar>
 
     <xacro:hcsr04_sonar name="rear_right" parent="base_link" sim_config="${sim_config_path}/rear_right_sonar_config.yaml">
-      <origin xyz="-0.07912 -0.09898 0.0" rpy="${PI-PI/6.0} ${PI/2.0} 0" />
+      <origin xyz="-0.07912 -0.12448 0.012" rpy="${PI-PI/6.0} ${PI/2.0} 0" />
     </xacro:hcsr04_sonar>
 
     <xacro:mpu9250_imu name="imu" parent="base_link" sim_config="${sim_config_path}/mpu9250_imu_config.yaml">
@@ -41,11 +41,11 @@
     </xacro:mpu9250_imu>
 
     <xacro:uvc_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="${sim_config_path}/basler_camera_sim_config.yaml">
-      <origin xyz="0.273 0.0 0.180" rpy="0 0 0" />
+      <origin xyz="0.305 0.0 0.166" rpy="0 0.14 0" />
     </xacro:uvc_camera>
 
     <xacro:uvc_camera name="rear_camera" parent="base_link" resolution="low_res" model="delock" sim_config="${sim_config_path}/delock_camera_sim_config.yaml">
-      <origin xyz="-0.0882 0.0 0.0325" rpy="${PI} 0 ${PI}" />
+      <origin xyz="-0.102 -0.003 0.032" rpy="${PI} 0 ${PI}" />
     </xacro:uvc_camera>
 
   </xacro:macro>