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Enable/Disable ultrasounds. Rearrange URDF for rpanther/panther_simul…
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panther_description/meshes/chassis/cover_link.STL
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- | ||
| Copyright (C) 2020, Raffaello Bonghi <[email protected]> | ||
| All rights reserved | ||
| Redistribution and use in source and binary forms, with or without | ||
| modification, are permitted provided that the following conditions are met: | ||
| 1. Redistributions of source code must retain the above copyright | ||
| notice, this list of conditions and the following disclaimer. | ||
| 2. Redistributions in binary form must reproduce the above copyright | ||
| notice, this list of conditions and the following disclaimer in the | ||
| documentation and/or other materials provided with the distribution. | ||
| 3. Neither the name of the copyright holder nor the names of its | ||
| contributors may be used to endorse or promote products derived | ||
| from this software without specific prior written permission. | ||
| THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND | ||
| CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, | ||
| BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, | ||
| PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; | ||
| OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, | ||
| WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE | ||
| OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, | ||
| EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
| --> | ||
| <robot name="panther" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
|
|
||
| <xacro:include filename="$(find panther_description)/urdf/materials.urdf" /> | ||
| <!-- Panther parts --> | ||
| <xacro:include filename="$(find panther_description)/urdf/chassis/chassis.urdf.xacro" /> | ||
| <xacro:include filename="$(find panther_description)/urdf/chassis/stand.urdf.xacro" /> | ||
| <xacro:include filename="$(find panther_description)/urdf/chassis/battery.urdf.xacro" /> | ||
| <xacro:include filename="$(find panther_description)/urdf/track/track.urdf.xacro" /> | ||
| <!-- Sensors --> | ||
| <xacro:include filename="$(find panther_description)/urdf/sensors/ultrasounds.urdf.xacro" /> | ||
| <xacro:include filename="$(find panther_description)/urdf/sensors/imu.urdf.xacro" /> | ||
| <xacro:include filename="$(find panther_description)/urdf/sensors/rplidar.urdf.xacro" /> | ||
| <xacro:include filename="$(find zed_wrapper)/urdf/zed.urdf.xacro" /> <!-- ZED external xacro --> | ||
| <!-- Boards --> | ||
| <xacro:include filename="$(find panther_description)/urdf/boards/jetson.urdf.xacro" /> | ||
|
|
||
| <!-- Global properties --> | ||
| <xacro:property name="M_PI" value="3.14159"/> | ||
| <xacro:property name="path_meshes" value="package://panther_description/meshes"/> | ||
|
|
||
| <!-- Sprocket and gear properties --> | ||
| <xacro:property name="sprocket_radius" value="0.0325"/> | ||
| <xacro:property name="sprocket_leght" value="0.05"/> | ||
| <xacro:property name="sprocket_teeth" value="24"/> | ||
| <xacro:property name="gear_teeth" value="16"/> | ||
| <xacro:property name="wheel_offset_x" value="-0.00"/> | ||
| <xacro:property name="wheel_offset_y" value="0.08"/> | ||
| <xacro:property name="wheel_offset_z" value="${wheel_radius}"/> | ||
|
|
||
| <xacro:macro name="panther" params="zed_model jetson motor_board ssd ultrasounds"> | ||
|
|
||
| <!-- base_link --> | ||
| <link name="base_link"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry><cylinder length="0.001" radius="0.05"/></geometry> | ||
| <material name="Green" /> | ||
| </visual> | ||
| </link> | ||
|
|
||
| <!-- Panther body --> | ||
| <xacro:chassis parent="base_link"> | ||
| <origin xyz="0 0 0.08" rpy="0 0 0" /> | ||
| </xacro:chassis> | ||
| <xacro:track type="left" parent="frame_link" /> | ||
| <xacro:track type="right" parent="frame_link" /> | ||
| <xacro:stand parent="frame_link" model="stand_rplidar_zed"> | ||
| <origin xyz="-0.03600 0 0.1700" rpy="0 0 0" /> | ||
| </xacro:stand> | ||
| <xacro:battery parent="frame_link" mass="0.24981"> | ||
| <origin xyz="-0.13 0 0.01" rpy="0 0 0" /> | ||
| </xacro:battery> | ||
| <xacro:if value="${ssd}"> | ||
| <xacro:include filename="$(find panther_description)/urdf/chassis/ssd.urdf.xacro" /> | ||
| <xacro:ssd parent="frame_link"> | ||
| <origin xyz="0.0465 0.03075 0.04674" rpy="${M_PI} 0 ${M_PI}" /> | ||
| </xacro:ssd> | ||
| </xacro:if> | ||
|
|
||
| <!-- Sensors --> | ||
| <xacro:if value="${ultrasounds}"> | ||
| <xacro:ultrasounds name="SFR10_left" parent="frame_link"> | ||
| <origin xyz="0.15 0.095 -0.015" rpy="0 0 0" /> | ||
| </xacro:ultrasounds> | ||
| <xacro:ultrasounds name="SFR10_right" parent="frame_link"> | ||
| <origin xyz="0.15 -0.095 -0.015" rpy="0 0 0" /> | ||
| </xacro:ultrasounds> | ||
| <xacro:ultrasounds name="SFR10_rear" parent="frame_link"> | ||
| <origin xyz="-0.15 0 -0.015" rpy="${M_PI} ${M_PI} 0" /> | ||
| </xacro:ultrasounds> | ||
| </xacro:if> | ||
| <xacro:razor_imu parent="frame_link"> | ||
| <origin xyz="-0.0420817256507905 0 0.091441320597534" rpy="0 ${M_PI/2} 0" /> | ||
| </xacro:razor_imu> | ||
| <xacro:zed parent="stand_link" camera_name="${zed_model}" camera_model="${zed_model}"> | ||
| <origin xyz="0.028 0 0.021" rpy="0 0 0" /> | ||
| </xacro:zed> | ||
| <xacro:rplidar parent="stand_link"> | ||
| <origin xyz="-0.03 0 0.02" rpy="0 0 0" /> | ||
| </xacro:rplidar> | ||
|
|
||
| <!-- Boards --> | ||
| <xacro:jetson parent="frame_link" model="${jetson}"> | ||
| <origin xyz="0.08 0 0.05" rpy="0 0 0" /> | ||
| </xacro:jetson> | ||
| <xacro:if value="${motor_board == 'unav'}"> | ||
| <xacro:include filename="$(find panther_description)/urdf/boards/unav.urdf.xacro" /> | ||
| <xacro:unav parent="frame_link"> | ||
| <origin xyz="-0.10 0 0.12" rpy="0 0 0" /> | ||
| </xacro:unav> | ||
| </xacro:if> | ||
| <xacro:if value="${motor_board == 'roboteq'}"> | ||
| <xacro:include filename="$(find panther_description)/urdf/boards/roboteq.urdf.xacro" /> | ||
| <xacro:roboteq parent="frame_link"> | ||
| <origin xyz="-0.11 0 0.12" rpy="0 0 0" /> | ||
| </xacro:roboteq> | ||
| </xacro:if> | ||
| </xacro:macro> | ||
|
|
||
| </robot> |