diff --git a/config/description.rviz b/config/description.rviz
index 9371f425807fa6c39dce39254f1686baa0169a51..11adc8f84f8984e0c4bdca1d120a49a9c359268e 100644
--- a/config/description.rviz
+++ b/config/description.rviz
@@ -5,8 +5,11 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
+ - /Status1
+ - /Grid1
+ - /Models1
- /Models1/RobotModel1
- Splitter Ratio: 0.69186
+ Splitter Ratio: 0.69186002
Tree Height: 421
- Class: rviz/Selection
Name: Selection
@@ -16,7 +19,7 @@ Panels:
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
- Splitter Ratio: 0.588679
+ Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
@@ -27,6 +30,8 @@ Panels:
Name: Time
SyncMode: 0
SyncSource: ""
+Toolbars:
+ toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
@@ -36,7 +41,7 @@ Visualization Manager:
Color: 160; 160; 164
Enabled: true
Line Style:
- Line Width: 0.03
+ Line Width: 0.0299999993
Value: Lines
Name: Grid
Normal Cell Count: 0
@@ -49,93 +54,22 @@ Visualization Manager:
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
- Enabled: true
+ Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
- base_link:
- Value: true
- camera:
- Value: true
- camera_board:
- Value: true
- camera_depth_frame:
- Value: true
- camera_depth_optical_frame:
- Value: true
- camera_link:
- Value: true
- camera_link2:
- Value: true
- camera_optical:
- Value: true
- camera_rgb_frame:
- Value: true
- camera_rgb_optical_frame:
- Value: true
- camera_rgb_optical_frame2:
- Value: true
- front_left_axel_link:
- Value: true
- front_left_wheel_link:
- Value: true
- front_right_axel_link:
- Value: true
- front_right_wheel_link:
- Value: true
- imu:
- Value: true
- laser:
- Value: true
- rear_left_wheel_link:
- Value: true
- rear_right_wheel_link:
- Value: true
- sensor_board:
- Value: true
- Marker Scale: 0.2
+ Marker Scale: 0.200000003
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
- base_link:
- front_left_axel_link:
- front_left_wheel_link:
- {}
- front_right_axel_link:
- front_right_wheel_link:
- {}
- rear_left_wheel_link:
- {}
- rear_right_wheel_link:
- {}
- sensor_board:
- camera_board:
- camera:
- camera_optical:
- {}
- camera_link:
- camera_depth_frame:
- {}
- camera_depth_optical_frame:
- {}
- camera_rgb_frame:
- {}
- camera_rgb_optical_frame:
- {}
- camera_link2:
- camera_rgb_optical_frame2:
- {}
- imu:
- {}
- laser:
- {}
+ {}
Update Interval: 0
- Value: true
+ Value: false
- Class: rviz/Group
Displays:
- - Alpha: 0.9
+ - Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
@@ -149,93 +83,57 @@ Visualization Manager:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- camera:
+ body:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- camera_board:
+ front_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- camera_depth_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_depth_optical_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_link:
+ front_lidar_rplidar_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- camera_link2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_optical:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_rgb_frame:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- camera_rgb_optical_frame:
+ front_lidar_rplidar_scan_frame:
Alpha: 1
Show Axes: false
Show Trail: false
- camera_rgb_optical_frame2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_left_axel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_left_wheel_link:
+ front_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- front_right_axel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- front_right_wheel_link:
+ rear_left_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- imu:
+ rear_right_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- laser:
+ side_left_base:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
- rear_left_wheel_link:
+ side_left_ranger1d:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- rear_right_wheel_link:
+ steer_left:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
- sensor_board:
+ steer_right:
Alpha: 1
Show Axes: false
Show Trail: false
- Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
@@ -247,6 +145,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
+ Default Light: true
Fixed Frame: base_link
Frame Rate: 30
Name: root
@@ -268,22 +167,25 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
- Distance: 0.71098
+ Distance: 0.476244211
Enable Stereo Rendering:
- Stereo Eye Separation: 0.06
+ Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
- X: 0.122431
- Y: -0.0544084
- Z: 0.0200973
+ X: 0.222137496
+ Y: 0.128144473
+ Z: 0.00814992562
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.0500000007
+ Invert Z Axis: false
Name: Current View
- Near Clip Distance: 0.01
- Pitch: 0.485399
+ Near Clip Distance: 0.00999999978
+ Pitch: 0.310399383
Target Frame: base_link
Value: Orbit (rviz)
- Yaw: 1.1054
+ Yaw: 1.22540057
Saved: ~
Window Geometry:
Displays:
@@ -291,7 +193,7 @@ Window Geometry:
Height: 636
Hide Left Dock: false
Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd00000004000000000000016a00000236fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000236000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f00000236fc0200000006fb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003880000023600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ QMainWindow State: 000000ff00000000fd00000004000000000000016a00000236fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000236000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002520000014e0000000000000000000000010000014f00000236fc0200000006fb0000001600530052003300300030005f0069006d0061006700650000000028000000b40000000000000000fb00000014006700700073005f00630061006d0065007200610000000028000001170000000000000000fb00000024004c0069006e00650044006500740065006300740069006f006e0049006d0061006700650000000028000002360000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000001d70000020d000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000064f0000003efc0100000002fb0000000800540069006d006500000000000000064f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003880000023600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
diff --git a/launch/description.launch b/launch/description.launch
index 74cbf21de0172ba1136c37c39b8a991f541cccd2..4d044b11309227b5d158f572bf10fd680559534e 100644
--- a/launch/description.launch
+++ b/launch/description.launch
@@ -2,10 +2,9 @@
<launch>
<arg name="name" default="model_car"/>
- <arg name="model" default="car"/>
<param name="robot_description"
- command="$(find xacro)/xacro --inorder '$(find model_car_description)/urdf/$(arg model).xacro'" />
+ command="$(find xacro)/xacro --inorder '$(find model_car_description)/urdf/car.xacro'" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="tf_broadcaster_$(arg name)">
<param name="publish_frequency" type="double" value="50.0"/>
diff --git a/launch/description_test.launch b/launch/description_test.launch
index 7c45ed0197ce2b69758f875b39bb1f6c91c9a0f5..e755d3096a703172edf8edcdb767a6277b6ffec2 100644
--- a/launch/description_test.launch
+++ b/launch/description_test.launch
@@ -2,17 +2,14 @@
<launch>
<arg name="name" default="model_car"/>
- <arg name="model" default="car"/>
<include file="$(find model_car_description)/launch/description.launch">
<arg name="name" value="$(arg name)"/>
- <arg name="model" value="$(arg model)"/>
</include>
<node name="joint_state_publisher"
- pkg ="joint_state_publisher"
- type="joint_state_publisher">
- <param name="use_gui" value="true"/>
+ pkg ="joint_state_publisher_gui"
+ type="joint_state_publisher_gui">
<remap from="/joint_states"
to="/$(arg name)/joint_states" />
</node>
diff --git a/meshes/IMU.stl b/meshes/IMU.stl
deleted file mode 100644
index bb959d9eb2c20480a437b60dff5a53b8f855e1d5..0000000000000000000000000000000000000000
Binary files a/meshes/IMU.stl and /dev/null differ
diff --git a/meshes/RP-LIDAR.stl b/meshes/RP-LIDAR.stl
deleted file mode 100644
index 66bee050a69b5c8c149c9f736d691bd9051e399e..0000000000000000000000000000000000000000
Binary files a/meshes/RP-LIDAR.stl and /dev/null differ
diff --git a/meshes/base.stl b/meshes/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..722564bf5a5c2b266af230eddba850a5bbe69595
Binary files /dev/null and b/meshes/base.stl differ
diff --git a/meshes/camera_board.stl b/meshes/camera_board.stl
deleted file mode 100644
index 58c0a7c2e648f3074e4a1810b7115ff1ba56b85f..0000000000000000000000000000000000000000
Binary files a/meshes/camera_board.stl and /dev/null differ
diff --git a/meshes/chassis.stl b/meshes/chassis.stl
deleted file mode 100644
index f2700e8e2d7b232d73ed298bc717491038f78815..0000000000000000000000000000000000000000
Binary files a/meshes/chassis.stl and /dev/null differ
diff --git a/meshes/creative_camera.stl b/meshes/creative_camera.stl
deleted file mode 100644
index 9909895bb52a4594c7e3df64abe6f3568e7acac7..0000000000000000000000000000000000000000
Binary files a/meshes/creative_camera.stl and /dev/null differ
diff --git a/meshes/gps_camera.stl b/meshes/gps_camera.stl
deleted file mode 100644
index 4136b65973f613fe24ff1a7b8be354f7273b8ea5..0000000000000000000000000000000000000000
Binary files a/meshes/gps_camera.stl and /dev/null differ
diff --git a/meshes/sensor_board.stl b/meshes/sensor_board.stl
deleted file mode 100644
index cdfcf295e5fb1211a36f60523d4d69778acba045..0000000000000000000000000000000000000000
Binary files a/meshes/sensor_board.stl and /dev/null differ
diff --git a/meshes/wheel.stl b/meshes/wheel.stl
index d3230315a4c3cead2391126624171777cccbb6a1..7fc3e0ce2e0236815fb4175b5854696b7a7d092a 100644
Binary files a/meshes/wheel.stl and b/meshes/wheel.stl differ
diff --git a/urdf/car.xacro b/urdf/car.xacro
index 007105be9c810c9572a9a8115b2b6722ec9277b0..23d1137dcbe6f78694ac1dc1ce9ac7cd9c086328 100644
--- a/urdf/car.xacro
+++ b/urdf/car.xacro
@@ -1,21 +1,9 @@
<?xml version="1.0"?>
-<robot name="model_car" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="model_car" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF Files -->
- <xacro:include filename="$(find model_car_description)/urdf/include/materials.xacro" />
-
<xacro:include filename="$(find model_car_description)/urdf/include/platform.xacro" />
- <xacro:include filename="$(find model_car_description)/urdf/include/platform.gazebo" />
-
<xacro:include filename="$(find model_car_description)/urdf/include/sensors.xacro" />
- <xacro:include filename="$(find model_car_description)/urdf/include/sensors.gazebo" />
-
- <!-- gazebo sensors -->
- <xacro:include filename="$(find model_car_description)/urdf/include/sensors/imu.gazebo" />
- <xacro:include filename="$(find model_car_description)/urdf/include/sensors/laser.gazebo" />
- <xacro:include filename="$(find model_car_description)/urdf/include/sensors/front_rgbd_camera.gazebo" />
- <!--<xacro:include filename="$(find model_car_description)/urdf/include/sensors/front_rgb_camera.gazebo" />--> <!-- only rgb, no depth-->
- <xacro:include filename="$(find model_car_description)/urdf/include/sensors/top_camera.gazebo" />
</robot>
diff --git a/urdf/include/materials.xacro b/urdf/include/materials.xacro
deleted file mode 100644
index f4ea8ce144bcd06d6201a30e283f8ff0fe5b1ac8..0000000000000000000000000000000000000000
--- a/urdf/include/materials.xacro
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0"?>
-<robot>
-
- <material name="Black">
- <color rgba="0.0 0.0 0.0 1.0"/>
- </material>
-
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
-
- <material name="Green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
-
- <material name="Grey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
-
- <material name="Grey2">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
-
- <material name="Red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
-
- <material name="White">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
-
-</robot>
\ No newline at end of file
diff --git a/urdf/include/platform.gazebo b/urdf/include/platform.gazebo
index d8ff1a8b913cdee8c47077b18a45697edc3bb1aa..bb3f7666a0ecf4cad635184cbd4b8bad4a85d187 100644
--- a/urdf/include/platform.gazebo
+++ b/urdf/include/platform.gazebo
@@ -4,48 +4,35 @@
<static>0</static>
</gazebo>
- <gazebo reference="base_link">
+ <gazebo reference="body">
<material>Gazebo/Grey</material>
+ <gravity>true</gravity>
+ <self_collide>false</self_collide>
+ <dampingFactor>0.0002</dampingFactor>
+ <mu1>0.300000</mu1>
+ <mu2>1.000000</mu2>
+<!-- <kp>50000000.0</kp>-->
+<!-- <kd>1.0</kd>-->
</gazebo>
- <gazebo reference="front_left_wheel_link">
+ <gazebo reference="steer_left">
<material>Gazebo/Black</material>
</gazebo>
- <gazebo reference="front_right_wheel_link">
+ <gazebo reference="steer_right">
<material>Gazebo/Black</material>
</gazebo>
- <gazebo reference="rear_left_wheel_link">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="rear_right_wheel_link">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="front_left_axel_front_left_wheel_joint">
- <implicitSpringDamper>true</implicitSpringDamper>
- </gazebo>
-
- <gazebo reference="front_right_axel_front_right_wheel_joint">
- <implicitSpringDamper>true</implicitSpringDamper>
- </gazebo>
-
- <gazebo reference="base_link_rear_left_wheel_joint">
- <implicitSpringDamper>true</implicitSpringDamper>
- </gazebo>
-
- <gazebo reference="base_link_rear_right_wheel_joint">
- <implicitSpringDamper>true</implicitSpringDamper>
- </gazebo>
-
- <gazebo reference="base_link_front_left_axel_joint">
+ <gazebo reference="base_link_2_steer_left_joint">
<implicitSpringDamper>true</implicitSpringDamper>
+ <stopCfm>0.0</stopCfm>
+ <stopErp>0.0</stopErp>
</gazebo>
- <gazebo reference="base_link_front_right_axel_joint">
+ <gazebo reference="base_link_2_steer_right_joint">
<implicitSpringDamper>true</implicitSpringDamper>
+ <stopCfm>0.0</stopCfm>
+ <stopErp>0.0</stopErp>
</gazebo>
<gazebo>
diff --git a/urdf/include/platform.xacro b/urdf/include/platform.xacro
index 9af9391190b7c24d2877aa88d3f833fde2096249..cbcf0ff13fdae865bdbc8da6c4e0084e79134bb6 100644
--- a/urdf/include/platform.xacro
+++ b/urdf/include/platform.xacro
@@ -1,33 +1,34 @@
<?xml version="1.0"?>
-<robot name="model_car" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="model_car" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find model_car_description)/urdf/include/wheel.xacro" />
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="angle_limit" value="${PI/3.0}" />
- <xacro:property name="wheel_width" value="0.001" />
<link name="base_link">
</link>
<link name="body">
<inertial>
- <mass value="6" />
- <origin xyz="0.15971917 0.00000000 0.00197764" />
- <inertia ixx="0.0067970" ixy="0.0" ixz="-0.0008808"
- iyy="0.0784672" iyz="0.0"
- izz="0.0838770" />
+ <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" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://model_car_description/meshes/chassis.stl"/>
+ <mesh filename="package://model_car_description/meshes/base.stl"/>
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://model_car_description/meshes/chassis.stl"/>
+ <mesh filename="package://model_car_description/meshes/base.stl"/>
</geometry>
</collision>
</link>
@@ -38,238 +39,73 @@
<child link="body" />
</joint>
- <joint name="base_link_rear_left_wheel_joint" type="revolute">
- <origin xyz="0.0 -0.0825 0" rpy="${PI/2.0} 0 0" />
- <axis xyz="0 0 1" />
- <anchor xyz="0 0 0" />
- <parent link="base_link" />
- <child link="rear_left_wheel_link" />
- <limit lower="-1000000000000.0" upper="1000000000000.0" effort="3.0" velocity="124"/>
- </joint>
+ <!-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WHEELS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -->
+ <!-- ======= REAR LEFT ======= -->
+ <xacro:wheel name="rear_left" parent="base_link" direction="1.0">
+ <origin xyz="0 0.108 0" rpy="1.5707 0 3.14159" />
+ </xacro:wheel>
- <transmission name="tran_rear_left">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="base_link_rear_left_wheel_joint">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="rear_left_motor">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
+ <!-- ======= REAR RIGHT ======= -->
+ <xacro:wheel name="rear_right" parent="base_link" direction="-1.0">
+ <origin xyz="0 -0.108 0" rpy="1.5707 0 0" />
+ </xacro:wheel>
- <link name="rear_left_wheel_link">
- <inertial>
- <mass value="1" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0002946" ixy="0.0" ixz="0.0"
- iyy="0.0002946" iyz="0.0"
- izz="0.000494" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://model_car_description/meshes/wheel.stl"/>
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.0315" length="${wheel_width}"/>
- </geometry>
- </collision>
+ <link name="steer_left">
</link>
- <joint name="base_link_rear_right_wheel_joint" type="revolute">
- <origin xyz="0.0 0.0825 0" rpy="-${PI/2.0} 0 0" />
+ <joint name="base_link_2_steer_left_joint" type="revolute">
+ <origin xyz="0.3666 0.108 0" rpy="0 0 0" />
<axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<parent link="base_link" />
- <child link="rear_right_wheel_link" />
- <limit lower="-1000000000000.0" upper="1000000000000.0" effort="3.0" velocity="124"/>
- </joint>
-
- <transmission name="tran_rear_right">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="base_link_rear_right_wheel_joint">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="rear_right_motor">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <link name="rear_right_wheel_link">
- <inertial>
- <mass value="1" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0002946" ixy="0.0" ixz="0.0"
- iyy="0.0002946" iyz="0.0"
- izz="0.0004940" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://model_car_description/meshes/wheel.stl"/>
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.0315" length="${wheel_width}"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="base_link_front_left_axel_joint" type="revolute">
- <origin xyz="0.260 -0.0825 0" rpy="${PI/2.0} 0 0" />
- <axis xyz="0 1 0" />
- <anchor xyz="0 0 0" />
- <parent link="base_link" />
- <child link="front_left_axel_link" />
+ <child link="steer_left" />
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="9.6" velocity="5.3"/>
<dynamics damping="0.2"/>
</joint>
- <transmission name="tran_front_left_axel">
+ <transmission name="tran_steer_left">
<type>transmission_interface/SimpleTransmission</type>
- <joint name="base_link_front_left_axel_joint">
+ <joint name="base_link_2_steer_left_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <actuator name="front_left_axel_motor">
+ <actuator name="steer_left_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
- <link name="front_left_axel_link">
- <inertial>
- <mass value="0.001" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0"
- iyy="0.00001" iyz="0.0"
- izz="0.00001" />
- </inertial>
- </link>
-
- <joint name="front_left_axel_front_left_wheel_joint" type="revolute">
- <origin xyz="0.0 0.0 0" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- <anchor xyz="0 0 0" />
- <parent link="front_left_axel_link" />
- <child link="front_left_wheel_link" />
- <limit lower="-1000000000000.0" upper="1000000000000.0" effort="3.0" velocity="124"/>
- </joint>
-
- <transmission name="tran_front_left_wheel">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="front_left_axel_front_left_wheel_joint">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="front_left_wheel_motor">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
+ <!-- ======= FRONT LEFT ======= -->
+ <xacro:wheel name="front_left" parent="steer_left" direction="1.0">
+ <origin xyz="0.0 0.0 0" rpy="1.5707 0 3.14159" />
+ </xacro:wheel>
- <link name="front_left_wheel_link">
- <inertial>
- <mass value="1" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0002946" ixy="0.0" ixz="0.0"
- iyy="0.0002946" iyz="0.0"
- izz="0.0004940" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://model_car_description/meshes/wheel.stl"/>
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.0315" length="${wheel_width}"/>
- </geometry>
- </collision>
+ <link name="steer_right">
</link>
- <joint name="base_link_front_right_axel_joint" type="revolute">
- <origin xyz="0.260 0.0825 0" rpy="-${PI/2.0} 0 0" />
- <axis xyz="0 1 0" />
+ <joint name="base_link_2_steer_right_joint" type="revolute">
+ <origin xyz="0.3666 -0.108 0" rpy="0 0 0" />
+ <axis xyz="0 0 1" />
<anchor xyz="0 0 0" />
<parent link="base_link" />
- <child link="front_right_axel_link" />
+ <child link="steer_right" />
<limit lower="-${angle_limit}" upper="${angle_limit}" effort="9.6" velocity="5.3"/>
<dynamics damping="0.2"/>
</joint>
- <transmission name="tran_front_right_axel">
+ <transmission name="tran_steer_right">
<type>transmission_interface/SimpleTransmission</type>
- <joint name="base_link_front_right_axel_joint">
+ <joint name="base_link_2_steer_right_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
- <actuator name="front_right_axel_motor">
+ <actuator name="steer_right_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
- <link name="front_right_axel_link">
- <inertial>
- <mass value="0.001" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0"
- iyy="0.00001" iyz="0.0"
- izz="0.00001" />
- </inertial>
- </link>
-
- <joint name="front_right_axel_front_right_wheel_joint" type="continuous">
- <origin xyz="0.0 0.0 0" rpy="0 0 0" />
- <axis xyz="0 0 1" />
- <anchor xyz="0 0 0" />
- <parent link="front_right_axel_link" />
- <child link="front_right_wheel_link" />
- <limit lower="-1000000000000.0" upper="1000000000000.0" effort="3.0" velocity="124"/>
- </joint>
-
- <transmission name="tran_front_right_wheel">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="front_right_axel_front_right_wheel_joint">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <actuator name="front_right_wheel_motor">
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
-
- <link name="front_right_wheel_link">
- <inertial>
- <mass value="1" />
- <origin xyz="0 0 0" rpy="0 0 0" />
- <inertia ixx="0.0002946" ixy="0.0" ixz="0.0"
- iyy="0.0002946" iyz="0.0"
- izz="0.0004940" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://model_car_description/meshes/wheel.stl"/>
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <cylinder radius="0.0315" length="${wheel_width}"/>
- </geometry>
- </collision>
- </link>
+ <!-- ======= FRONT RIGHT ======= -->
+ <xacro:wheel name="front_right" parent="steer_right" direction="-1.0">
+ <origin xyz="0.0 0.0 0" rpy="1.5707 0 0" />
+ </xacro:wheel>
</robot>
diff --git a/urdf/include/road_old/road.dae b/urdf/include/road_old/road.dae
deleted file mode 100644
index 18c3cd2894005e36c99f8443b42942ead98cf0e8..0000000000000000000000000000000000000000
--- a/urdf/include/road_old/road.dae
+++ /dev/null
@@ -1,122 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
- <library_images>
- <image id="Map #1-image" name="Map #1"><init_from>road.png</init_from></image>
- </library_images>
- <library_materials>
- <material id="Material #36" name="Material #36">
- <instance_effect url="#Material #36-fx"/>
- </material>
- </library_materials>
- <library_effects>
- <effect id="Material #36-fx" name="Material #36">
- <profile_COMMON>
- <technique sid="standard">
- <phong>
- <emission>
- <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
- </emission>
- <ambient>
- <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
- </ambient>
- <diffuse>
- <texture texture="Map #1-image" texcoord="CHANNEL0">
- <extra>
- <technique profile="MAYA">
- <wrapU sid="wrapU0">TRUE</wrapU>
- <wrapV sid="wrapV0">TRUE</wrapV>
- <blend_mode>ADD</blend_mode>
- </technique>
- </extra>
- </texture>
- </diffuse>
- <specular>
- <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
- </specular>
- <shininess>
- <float sid="shininess">2.000000</float>
- </shininess>
- <reflective>
- <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
- </reflective>
- <reflectivity>
- <float sid="reflectivity">1.000000</float>
- </reflectivity>
- <transparent opaque="RGB_ZERO">
- <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
- </transparent>
- <transparency>
- <float sid="transparency">0.000000</float>
- </transparency>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_geometries>
- <geometry id="QR_Code-lib" name="QR_CodeMesh">
- <mesh>
- <source id="QR_Code-POSITION">
- <float_array id="QR_Code-POSITION-array" count="12">
--3.149606 -3.149606 0.000000
-3.149606 -3.149606 0.000000
--3.149606 3.149606 0.000000
-3.149606 3.149606 0.000000
-</float_array>
- <technique_common>
- <accessor source="#QR_Code-POSITION-array" count="4" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <source id="QR_Code-Normal0">
- <float_array id="QR_Code-Normal0-array" count="18">
-0.000000 0.000000 1.000000
-0.000000 0.000000 1.000000
-0.000000 0.000000 1.000000
-0.000000 0.000000 1.000000
-0.000000 0.000000 1.000000
-0.000000 0.000000 1.000000
-</float_array>
- <technique_common>
- <accessor source="#QR_Code-Normal0-array" count="6" stride="3">
- <param name="X" type="float"/>
- <param name="Y" type="float"/>
- <param name="Z" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <source id="QR_Code-UV0">
- <float_array id="QR_Code-UV0-array" count="8">
-0.000499 0.000500
-0.999500 0.000499
-0.000500 0.999501
-0.999501 0.999500
-</float_array>
- <technique_common>
- <accessor source="#QR_Code-UV0-array" count="4" stride="2">
- <param name="S" type="float"/>
- <param name="T" type="float"/>
- </accessor>
- </technique_common>
- </source>
- <vertices id="QR_Code-VERTEX">
- <input semantic="POSITION" source="#QR_Code-POSITION"/>
- </vertices>
- <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
- </mesh>
- </geometry>
- </library_geometries>
- <library_visual_scenes>
- <visual_scene id="" name="">
- <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
- <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#"></instance_visual_scene>
- </scene>
-</COLLADA>
diff --git a/urdf/include/road_old/road.gazebo b/urdf/include/road_old/road.gazebo
deleted file mode 100644
index dac7e641bb1944ffc602cb248b30cd9392050a3a..0000000000000000000000000000000000000000
--- a/urdf/include/road_old/road.gazebo
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <gazebo>
- <static>1</static>
- </gazebo>
-
- <gazebo reference="road_link">
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <gazebo reference="road_image">
- </gazebo>
-
- <gazebo reference="ceiling">
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <gazebo reference="lamp1">
- <material>Gazebo/Red</material>
- </gazebo>
-
- <gazebo reference="lamp2">
- <material>Gazebo/Green</material>
- </gazebo>
-
- <gazebo reference="lamp3">
- <material>Gazebo/Blue</material>
- </gazebo>
-
-</robot>
-
diff --git a/urdf/include/road_old/road.png b/urdf/include/road_old/road.png
deleted file mode 100644
index 8a7400d1844bc8a407e1f87e64832c1d54270e0b..0000000000000000000000000000000000000000
Binary files a/urdf/include/road_old/road.png and /dev/null differ
diff --git a/urdf/include/road_old/road.xacro b/urdf/include/road_old/road.xacro
deleted file mode 100644
index 5c614a0bfc4535cdb755f3a81fa868f06e131312..0000000000000000000000000000000000000000
--- a/urdf/include/road_old/road.xacro
+++ /dev/null
@@ -1,143 +0,0 @@
-<?xml version="1.0"?>
-
-<root xmlns:xacro="http://ros.org/wiki/xacro">
-
- <xacro:macro name="road" params="name size *origin">
- <!-- obstacle -->
- <link name="road_link">
- <inertial>
- <mass value="100"/>
- <origin xyz="0 0 0.01" rpy="0 0 0"/>
- <inertia ixx="21.33933333" ixy="0.0" ixz="0.0" iyy="13.73933333" iyz="0.0" izz="35.07266667" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="10 10 0.02"/>
- </geometry>
- <material name="green"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="10 10 0.02"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="road_link_road_image" type="fixed">
- <origin xyz="0 0 0.011" rpy="1.5707 0 0" />
- <parent link="road_link"/>
- <child link="road_image" />
- </joint>
-
- <link name="road_image">
- <inertial>
- <mass value="0.001"/>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/urdf/include/road/road.dae" scale="${size*8.63} ${size*8.63} ${size*8.63}"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/urdf/include/road/road.dae" scale="${size*8.63} ${size*8.63} ${size*8.63}"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="road_link_ceiling" type="fixed">
- <origin xyz="0 0 2.0" rpy="0 0 0" />
- <parent link="road_link"/>
- <child link="ceiling" />
- </joint>
-
- <link name="ceiling">
- </link>
-
- <joint name="ceiling_lamp1" type="fixed">
- <origin xyz="10 10 -0.02" rpy="0 0 0" />
- <parent link="ceiling"/>
- <child link="lamp1" />
- </joint>
-
- <link name="lamp1">
- <inertial>
- <mass value="0.001"/>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="ceiling_lamp2" type="fixed">
- <origin xyz="10 -10 -0.02" rpy="0 0 0" />
- <parent link="ceiling"/>
- <child link="lamp2" />
- </joint>
-
- <link name="lamp2">
- <inertial>
- <mass value="0.001"/>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="ceiling_lamp3" type="fixed">
- <origin xyz="-10 10 -0.02" rpy="0 0 0" />
- <parent link="ceiling"/>
- <child link="lamp3" />
- </joint>
-
- <link name="lamp3">
- <inertial>
- <mass value="0.001"/>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="2 2 0.02"/>
- </geometry>
- </collision>
- </link>
- </xacro:macro>
-
-</root>
-
diff --git a/urdf/include/road_old/road_env.xacro b/urdf/include/road_old/road_env.xacro
deleted file mode 100755
index f51ed6d35b34a159a58b41eb3ce902cd65d8d7cd..0000000000000000000000000000000000000000
--- a/urdf/include/road_old/road_env.xacro
+++ /dev/null
@@ -1,10 +0,0 @@
-<!-- -->
-<robot name="road" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
- <xacro:include filename="$(find model_car_description)/urdf/include/road/road.xacro" />
- <xacro:include filename="$(find model_car_description)/urdf/include/road/road.gazebo" />
-
- <xacro:road name="road" size="5.0">
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- </xacro:road>
-</robot>
diff --git a/urdf/include/sensors.gazebo b/urdf/include/sensors.gazebo
deleted file mode 100644
index acdf8007b50eb7e846dd037dceab8f287ef0eec0..0000000000000000000000000000000000000000
--- a/urdf/include/sensors.gazebo
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="2.0"?>
-<robot>
- <gazebo>
- <static>0</static>
- </gazebo>
-
- <gazebo reference="sensor_board">
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <gazebo reference="camera_board">
- <material>Gazebo/Grey</material>
- </gazebo>
-
- <!-- each sensors included separately -->
-
-</robot>
diff --git a/urdf/include/sensors.xacro b/urdf/include/sensors.xacro
index edf91350515b72d54c951ce8ba33ad75c3857342..ae8f0ee5062c78af0a10e35c016eb0b8235a9e53 100644
--- a/urdf/include/sensors.xacro
+++ b/urdf/include/sensors.xacro
@@ -1,213 +1,49 @@
<?xml version="1.0"?>
-<robot name="model_car" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="model_car" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF Files -->
+ <xacro:include filename="$(find iri_rplidar_laser2d_description)/urdf/rplidar_laser2d.xacro" />
+ <xacro:include filename="$(find iri_hcsr04_sonar_description)/urdf/hc_sr04_sonar.xacro" />
+ <xacro:include filename="$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu.xacro" />
+ <xacro:include filename="$(find iri_uvc_camera_description)/urdf/uvc_camera.xacro" />
<xacro:property name="PI" value="3.1415926535897931" />
- <link name="sensor_board">
- <inertial>
- <mass value="6" />
- <origin xyz="0.12043628 0.00000000 0.00171950" rpy="0 0 0"/>
- <inertia ixx="0.0123739" ixy="0.0" ixz="0.0003463"
- iyy="0.0711051" iyz="0.0"
- izz="0.0820107" />
- </inertial>
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/sensor_board.stl" />
- </geometry>
- <material name="Grey" />
- </visual>
- <collision>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/sensor_board.stl" />
- </geometry>
- </collision>
- </link>
+ <xacro:rplidar_laser2d name="front_lidar" prefix="model_car" parent="base_link">
+ <origin xyz="0.439 0.0 0.05" rpy="0 ${PI} ${PI}" />
+ </xacro:rplidar_laser2d>
- <joint name="joint_base_link_to_sensor_board" type="fixed" >
- <parent link="base_link"/>
- <child link="sensor_board"/>
- <origin xyz="0 0 0.0415" rpy="0 0 0"/>
- </joint>
+ <xacro:hcsr04_sonar name="side_left" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
+ <origin xyz="0.2585 0.1107 0.0" rpy="-${PI/2.0} ${PI/2.0} 0" />
+ </xacro:hcsr04_sonar>
- <link name="camera_board">
- <inertial>
- <mass value="0.6000000" />
- <origin xyz="0.04901990 0.00000000 0.00000000" rpy="0 0 0"/>
- <inertia ixx="0.0003816" ixy="0.0" ixz="0.0"
- iyy="0.0003420" iyz="0.0"
- izz="0.0007211" />
- </inertial>
- <visual>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/camera_board.stl" />
- </geometry>
- <material name="Grey" />
- </visual>
- <collision>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/camera_board.stl" />
- </geometry>
- </collision>
- </link>
+ <xacro:hcsr04_sonar name="side_right" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
+ <origin xyz="0.2585 -0.1107 0.0" rpy="${PI/2.0} ${PI/2.0} 0" />
+ </xacro:hcsr04_sonar>
- <joint name="joint_sensor_board_to_camera_board" type="fixed" >
- <parent link="sensor_board"/>
- <child link="camera_board"/>
- <origin xyz="0.109 0 0.105" rpy="0 0 0"/>
- </joint>
+ <xacro:hcsr04_sonar name="rear_center" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
+ <origin xyz="-0.0882 0.0 0.0" rpy="${PI} ${PI/2.0} 0" />
+ </xacro:hcsr04_sonar>
- <!--*************************************************-->
- <!--* Sensors *-->
- <!--*************************************************-->
+ <xacro:hcsr04_sonar name="rear_left" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
+ <origin xyz="-0.07912 0.09898 0.0" rpy="${PI+PI/6.0} ${PI/2.0} 0" />
+ </xacro:hcsr04_sonar>
- <!-- IMU -->
- <link name="imu">
- <inertial>
- <mass value="0.0200000" />
- <origin xyz="0.00000000 0.00000000 0.00150000" rpy="0 0 0"/>
- <inertia ixx="0.0000007" ixy="0.0" ixz="0.0"
- iyy="0.0000004" iyz="0.0"
- izz="0.0000011" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/IMU.stl" />
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/IMU.stl" />
- </geometry>
- </collision>
- </link>
+ <xacro:hcsr04_sonar name="rear_right" parent="base_link" sim_config="$(find iri_ranger1d_gazebo)/config/hc_sr04_sonar_ranger1d_sim_config.yaml">
+ <origin xyz="-0.07912 -0.09898 0.0" rpy="${PI-PI/6.0} ${PI/2.0} 0" />
+ </xacro:hcsr04_sonar>
- <joint name="joint_sensor_board_to_imu" type="fixed" >
- <parent link="sensor_board"/>
- <child link="imu"/>
- <origin xyz="0.239 0.02 0.0025" rpy="0 0 ${PI/2}"/>
- </joint>
+ <xacro:mpu9250_imu name="imu" parent="base_link" sim_config="$(find iri_imu_gazebo)/config/mpu9250_imu_sim_config.yaml">
+ <origin xyz="0.006 0.0 0.0271" rpy="0 0 0" />
+ </xacro:mpu9250_imu>
- <!-- RP_LIDAR -->
- <link name="laser">
- <inertial>
- <mass value="1.8362923" />
- <origin xyz="0.0000000 0.0000000 -0.01040000" rpy="0 0 0"/>
- <inertia ixx="0.0009124" ixy="0.0" ixz="0.0"
- iyy="0.0009124" iyz="0.0"
- izz="0.0013154" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/RP-LIDAR.stl" />
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/RP-LIDAR.stl" />
- </geometry>
- </collision>
- </link>
+ <xacro:uvc_camera name="front_camera" parent="base_link" resolution="low_res" model="basler" sim_config="$(find iri_camera_gazebo)/config/camera_sim_config.yaml">
+ <origin xyz="0.273 0.0 0.180" rpy="0 0 0" />
+ </xacro:uvc_camera>
- <joint name="joint_sensor_board_to_laser" type="fixed" >
- <parent link="sensor_board"/>
- <child link="laser"/>
- <origin xyz="0.10445 0 0.0333" rpy="0 0 -${PI}"/>
- </joint>
-
- <!-- top camera -->
-<!-- <xacro:property name="top_camera_name" value="top_camera" />-->
-
- <link name="top_camera">
- <inertial>
- <mass value="0.1600000" />
- <origin xyz="0.00000000 0.00000000 -0.01396703" rpy="0 0 0"/>
- <inertia ixx="0.0000170" ixy="0.0" ixz="0.0"
- iyy="0.0000170" iyz="0.0"
- izz="0.0000183" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 ${PI/2} 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/gps_camera.stl" />
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 ${PI/2} 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/gps_camera.stl" />
- </geometry>
- </collision>
- </link>
-
- <joint name="joint_camera_board_to_top_camera" type="fixed" >
- <parent link="camera_board"/>
- <child link="top_camera"/>
- <origin xyz="0.019 0 0.0405" rpy="0 -${PI/2} ${PI}"/>
- </joint>
-
- <link name="top_camera_optical">
- </link>
-
- <joint name="joint_top_camera_to_top_camera_optical" type="fixed" >
- <parent link="top_camera"/>
- <child link="top_camera_optical"/>
- <origin xyz="0.0 0 0.0" rpy="-${PI/2} 0 -${PI/2}"/>
- </joint>
-
- <!-- front camera -->
- <xacro:property name="front_camera_name" value="camera" />
-
- <link name="${front_camera_name}_link">
- <inertial>
- <mass value="1.3000000" />
- <origin xyz="0.00000000 0.00000000 -0.01150000" rpy="0 0 0"/>
- <inertia ixx="0.0017500" ixy="0.0" ixz="0.0"
- iyy="0.0001146" iyz="0.0"
- izz="0.0017500" />
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/creative_camera.stl" />
- </geometry>
- <material name="Black" />
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://model_car_description/meshes/creative_camera.stl" />
- </geometry>
- </collision>
- </link>
-
- <joint name="joint_camera_board_to_${front_camera_name}_link" type="fixed" >
- <parent link="camera_board"/>
- <child link="${front_camera_name}_link"/>
- <origin xyz="0.119 0 0.0" rpy="0 0 0"/>
- </joint>
-
- <link name="${front_camera_name}_rgb_optical_frame">
- </link>
-
- <joint name="joint_${front_camera_name}_link_to_${front_camera_name}_rgb_optical_frame" type="fixed" >
- <parent link="${front_camera_name}_link"/>
- <child link="${front_camera_name}_rgb_optical_frame"/>
- <origin xyz="0 0 0" rpy="-${PI/2} 0 -${PI/2}"/>
- </joint>
+ <xacro:uvc_camera name="rear_camera" parent="base_link" resolution="low_res" model="delock" sim_config="$(find iri_camera_gazebo)/config/camera_sim_config.yaml">
+ <origin xyz="-0.0112 0.0 0.055" rpy="0 0 ${PI}" />
+ </xacro:uvc_camera>
</robot>
diff --git a/urdf/include/sensors/front_rgb_camera.gazebo b/urdf/include/sensors/front_rgb_camera.gazebo
deleted file mode 100644
index a5e932dab2424a505961d1b9db3008592e31e4aa..0000000000000000000000000000000000000000
--- a/urdf/include/sensors/front_rgb_camera.gazebo
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <property name="front_camera_name" value="camera" />
- <property name="rate" value="5.0" />
-
- <gazebo reference="${front_camera_name}_link">
- <sensor type="camera" name="${front_camera_name}">
- <update_rate>${rate}</update_rate>
- <camera name="${front_camera_name}">
- <horizontal_fov>1.24</horizontal_fov>
- <image>
- <width>640</width>
- <height>480</height>
- <format>R8G8B8</format>
- </image>
- <clip>
- <near>0.2</near>
- <far>15.0</far>
- </clip>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.007</stddev>
- </noise>
- </camera>
- <plugin name="${front_camera_name}_controller" filename="libgazebo_ros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>${rate}</updateRate>
- <cameraName>${front_camera_name}</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <frameName>${front_camera_name}_rgb_optical_frame</frameName>
- <hackBaseline>0.07</hackBaseline>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/urdf/include/sensors/front_rgbd_camera.gazebo b/urdf/include/sensors/front_rgbd_camera.gazebo
deleted file mode 100644
index ab5cc1a91e3d0a0da9f3facfbc2a8f1cbe36640d..0000000000000000000000000000000000000000
--- a/urdf/include/sensors/front_rgbd_camera.gazebo
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <property name="front_camera_name" value="camera" />
- <property name="rate" value="5.0" />
-
- <gazebo reference="${front_camera_name}_link">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="${front_camera_name}_rgb_optical_frame">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="${front_camera_name}_link">
- <sensor type="depth" name="${front_camera_name}">
- <always_on>1</always_on>
- <visualize>true</visualize>
- <update_rate>${rate}</update_rate>
- <camera>
- <horizontal_fov>0.83</horizontal_fov>
- <image>
- <width>640</width>
- <height>480</height>
- <format>R8G8B8</format>
- </image>
- <depth_camera>
- </depth_camera>
- <clip>
- <near>0.2</near>
- <far>50.0</far>
- </clip>
- <!--
- <distortion>
- <k1>-0.25</k1>
- <k2>0.12</k2>
- <k3>0.0</k3>
- <p1>-0.00028</p1>
- <p2>-0.00005</p2>
- </distortion>
- -->
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.007</stddev>
- </noise>
- </camera>
- <plugin name="${front_camera_name}_controller" filename="libgazebo_ros_openni_kinect.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>${rate}</updateRate>
- <cameraName>${front_camera_name}</cameraName>
- <frameName>${front_camera_name}_rgb_optical_frame</frameName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudCutoff>0.4</pointCloudCutoff>
- <hackBaseline>0.007</hackBaseline>
- <CxPrime>0.0</CxPrime>
- <Cx>0.0</Cx>
- <Cy>0.0</Cy>
- <focalLength>0.0</focalLength>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/urdf/include/sensors/imu.gazebo b/urdf/include/sensors/imu.gazebo
deleted file mode 100644
index 82f564f97fcf10151e045a85f9d110dcb1443e19..0000000000000000000000000000000000000000
--- a/urdf/include/sensors/imu.gazebo
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <!-- IMU -->
- <gazebo reference="imu">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo>
- <plugin name="model_car_imu" filename="libhector_gazebo_ros_imu.so">
- <updateRate>20.0</updateRate>
- <robotNamespace>/</robotNamespace>
- <bodyName>imu</bodyName>
- <frameId>imu</frameId>
- <topicName>imu</topicName>
- <accelOffset>0 0 0</accelOffset>
- <accelDrift>0.5 0.5 0.5</accelDrift>
- <accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
- <rateOffset>0 0 0</rateOffset>
- <rateDrift>0.0 0.0 0.0</rateDrift>
- <rateGaussianNoise>0.005 0.005 0.0015</rateGaussianNoise>
- <headingOffset>0</headingOffset>
- <headingDrift>0.1</headingDrift>
- <headingGaussianNoise>0.05</headingGaussianNoise>
- </plugin>
- </gazebo>
-
-</robot>
diff --git a/urdf/include/sensors/laser.gazebo b/urdf/include/sensors/laser.gazebo
deleted file mode 100644
index e93cab5cc75cddd03a704a1b61e2bff8dae42d70..0000000000000000000000000000000000000000
--- a/urdf/include/sensors/laser.gazebo
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <!-- RP-LIDAR -->
- <gazebo reference="laser">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="laser">
- <sensor type="ray" name="rp_lidar_sensor">
- <pose>0 0 0 0 0 0</pose>
- <visualize>false</visualize>
- <update_rate>10</update_rate>
- <ray>
- <scan>
- <horizontal>
- <samples>400</samples>
- <min_angle>-3.14159</min_angle>
- <max_angle>3.14159</max_angle>
- </horizontal>
- </scan>
- <range>
- <min>0.15</min>
- <max>6.0</max>
- <resolution>0.05</resolution>
- </range>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.01</stddev>
- </noise>
- </ray>
- <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
- <topicName>/scan</topicName>
- <frameName>laser</frameName>
- </plugin>
- </sensor>
- </gazebo>
-
-</robot>
diff --git a/urdf/include/sensors/top_camera.gazebo b/urdf/include/sensors/top_camera.gazebo
deleted file mode 100644
index e26162848f40998fa78dddf21b0f7ef89123a85a..0000000000000000000000000000000000000000
--- a/urdf/include/sensors/top_camera.gazebo
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="2.0"?>
-<robot>
-
- <property name="top_camera_name" value="top_camera" />
- <property name="rate" value="5.0" />
-
- <gazebo reference="${top_camera_name}">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="${top_camera_name}_optical">
- <material>Gazebo/Black</material>
- </gazebo>
-
- <gazebo reference="${top_camera_name}">
- <!-- -->
- <sensor type="wideanglecamera" name="${top_camera_name}">
- <camera>
- <horizontal_fov>3.14</horizontal_fov>
- <image>
- <width>1920</width>
- <height>1080</height>
- </image>
- <clip>
- <near>0.1</near>
- <far>100</far>
- </clip>
- <lens>
- <type>stereographic</type>
- <scale_to_hfov>true</scale_to_hfov>
- <cutoff_angle>1.5707</cutoff_angle>
- <env_texture_size>512</env_texture_size>
- </lens>
- </camera>
- <always_on>1</always_on>
- <update_rate>${rate}</update_rate>
- <plugin name="${top_camera_name}_controller" filename="libgazebo_ros_camera.so">
- <alwaysOn>true</alwaysOn>
- <updateRate>${rate}</updateRate>
- <cameraName>usb_cam</cameraName>
- <imageTopicName>image_raw</imageTopicName>
- <cameraInfoTopicName>camera_info</cameraInfoTopicName>
- <frameName>${top_camera_name}_optical</frameName>
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>-0.241471</distortionK1>
- <distortionK2>0.038162</distortionK2>
- <distortionK3>0.000000</distortionK3>
- <distortionT1>0.005967</distortionT1>
- <distortionT2>-0.002110</distortionT2>
- </plugin>
- </sensor>
-
- </gazebo>
-
-</robot>
diff --git a/urdf/include/wheel.gazebo b/urdf/include/wheel.gazebo
new file mode 100644
index 0000000000000000000000000000000000000000..6df0434111d5fb04ebc8da2378a72d4b8cf1b530
--- /dev/null
+++ b/urdf/include/wheel.gazebo
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="wheel_gazebo" params=" name">
+
+ <gazebo reference="${name}_wheel">
+ <gravity>true</gravity>
+ <self_collide>false</self_collide>
+ <material>Gazebo/Black</material>
+ <dampingFactor>0.0002</dampingFactor>
+ <mu1>0.300000</mu1>
+ <mu2>1.000000</mu2>
+<!-- <kp>50000000.0</kp>-->
+<!-- <kd>1.0</kd>-->
+ </gazebo>
+
+ <gazebo reference="${parent}_2_${name}_wheel">
+ <implicitSpringDamper>true</implicitSpringDamper>
+ <stopCfm>0.0</stopCfm>
+ <stopErp>0.0</stopErp>
+ </gazebo>
+ </xacro:macro>
+</root>
+
diff --git a/urdf/include/wheel.xacro b/urdf/include/wheel.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..43132f0b589f059a111f8a62ccf3064a89fd48e1
--- /dev/null
+++ b/urdf/include/wheel.xacro
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find model_car_description)/urdf/include/wheel.gazebo" />
+
+ <xacro:macro name="wheel" params="name parent direction *origin">
+ <link name="${name}_wheel">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://model_car_description/meshes/wheel.stl"/>
+ </geometry>
+ <material name="Black">
+ <color rgba="0.1 0.1 0.1 1.0"/>
+ </material>
+ </visual>
+ <inertial>
+ <mass value="0.25918139" />
+ <origin xyz="0.00000000 0.00000000 0.00000000" rpy="0 0 0"/>
+ <inertia ixx="0.00018551" ixy="0.00000000" ixz="0.00000000"
+ iyy="0.00018551" iyz="0.00000000"
+ izz="0.00032398" />
+ </inertial>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://model_car_description/meshes/wheel.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${parent}_2_${name}_wheel" type="continuous">
+ <xacro:insert_block name="origin" />
+ <parent link="${parent}"/>
+ <child link="${name}_wheel"/>
+ <axis xyz="0 0 ${direction}"/>
+ <limit effort="10000" velocity="10.0"/>
+ </joint>
+
+ <transmission name="${name}_tran">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="${parent}_2_${name}_wheel">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="${name}_motor">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <xacro:wheel_gazebo name="${name}"/>
+
+ </xacro:macro>
+
+</root>
+