Initial commit of duru_urdf package
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
This commit is contained in:
Yoo Hee Sung
@@ -0,0 +1,237 @@
|
||||
Panels:
|
||||
- Class: rviz_common/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
- /TF1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 617
|
||||
- Class: rviz_common/Selection
|
||||
Name: Selection
|
||||
- Class: rviz_common/Tool Properties
|
||||
Expanded:
|
||||
- /2D Goal Pose1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz_common/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz_default_plugins/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz_default_plugins/RobotModel
|
||||
Collision Enabled: false
|
||||
Description File: ""
|
||||
Description Source: Topic
|
||||
Description Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /robot_description
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||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
back_motor_left_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
back_motor_right_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
back_wheel_left_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
back_wheel_right_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
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||||
front_motor_left_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_motor_right_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_wheel_left_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_wheel_right_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
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||||
Name: RobotModel
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||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz_default_plugins/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
back_motor_left_2:
|
||||
Value: true
|
||||
back_motor_right_2:
|
||||
Value: true
|
||||
back_wheel_left_2:
|
||||
Value: true
|
||||
back_wheel_right_2:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
front_motor_left_2:
|
||||
Value: true
|
||||
front_motor_right_2:
|
||||
Value: true
|
||||
front_wheel_left_2:
|
||||
Value: true
|
||||
front_wheel_right_2:
|
||||
Value: true
|
||||
Marker Scale: 0.5
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: false
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||||
Tree:
|
||||
base_link:
|
||||
back_motor_right_2:
|
||||
back_wheel_right_2:
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||||
{}
|
||||
back_wheel_left_2:
|
||||
back_motor_left_2:
|
||||
{}
|
||||
front_motor_left_2:
|
||||
front_wheel_left_2:
|
||||
{}
|
||||
front_motor_right_2:
|
||||
front_wheel_right_2:
|
||||
{}
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||||
Update Interval: 0
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||||
Value: true
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||||
Enabled: true
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||||
Global Options:
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Background Color: 48; 48; 48
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||||
Fixed Frame: base_link
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||||
Frame Rate: 30
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||||
Name: root
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||||
Tools:
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||||
- Class: rviz_default_plugins/Interact
|
||||
Hide Inactive Objects: true
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||||
- Class: rviz_default_plugins/MoveCamera
|
||||
- Class: rviz_default_plugins/Select
|
||||
- Class: rviz_default_plugins/FocusCamera
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||||
- Class: rviz_default_plugins/Measure
|
||||
Line color: 128; 128; 0
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||||
- Class: rviz_default_plugins/SetInitialPose
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||||
Topic:
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||||
Depth: 5
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||||
Durability Policy: Volatile
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||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
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||||
Value: /initialpose
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||||
- Class: rviz_default_plugins/SetGoal
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||||
Topic:
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||||
Depth: 5
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||||
Durability Policy: Volatile
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||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
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||||
Value: /goal_pose
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||||
- Class: rviz_default_plugins/PublishPoint
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||||
Single click: true
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||||
Topic:
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||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
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||||
Transformation:
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||||
Current:
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||||
Class: rviz_default_plugins/TF
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||||
Value: true
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||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
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||||
Distance: 0.8402727246284485
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
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||||
Swap Stereo Eyes: false
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||||
Value: false
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||||
Focal Point:
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||||
X: 0
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||||
Y: 0
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||||
Z: 0
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||||
Focal Shape Fixed Size: true
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||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
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||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.6097970008850098
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
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||||
Yaw: 0.5103846192359924
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||||
Saved: ~
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||||
Window Geometry:
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||||
Displays:
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||||
collapsed: false
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||||
Height: 846
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||||
Hide Left Dock: false
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||||
Hide Right Dock: false
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||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
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||||
collapsed: false
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||||
Tool Properties:
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||||
collapsed: false
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||||
Views:
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collapsed: false
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Width: 1200
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X: 201
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Y: 69
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@@ -0,0 +1,64 @@
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from launch_ros.actions import Node
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.conditions import IfCondition, UnlessCondition
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import xacro
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import os
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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share_dir = get_package_share_directory('duru_urdf_description')
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xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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robot_urdf = robot_description_config.toxml()
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rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz')
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gui_arg = DeclareLaunchArgument(
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name='gui',
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default_value='True'
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)
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show_gui = LaunchConfiguration('gui')
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robot_state_publisher_node = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
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{'robot_description': robot_urdf}
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]
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)
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joint_state_publisher_node = Node(
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condition=UnlessCondition(show_gui),
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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)
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joint_state_publisher_gui_node = Node(
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condition=IfCondition(show_gui),
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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name='joint_state_publisher_gui'
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)
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rviz_node = Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_file],
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output='screen'
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)
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return LaunchDescription([
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gui_arg,
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robot_state_publisher_node,
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joint_state_publisher_node,
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joint_state_publisher_gui_node,
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rviz_node
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])
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@@ -0,0 +1,73 @@
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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import os
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import xacro
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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share_dir = get_package_share_directory('duru_urdf_description')
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xacro_file = os.path.join(share_dir, 'urdf', 'duru_urdf.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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robot_urdf = robot_description_config.toxml()
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robot_state_publisher_node = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[
|
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{'robot_description': robot_urdf}
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]
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)
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joint_state_publisher_node = Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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)
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gazebo_server = IncludeLaunchDescription(
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PythonLaunchDescriptionSource([
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PathJoinSubstitution([
|
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FindPackageShare('gazebo_ros'),
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||||
'launch',
|
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'gzserver.launch.py'
|
||||
])
|
||||
]),
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launch_arguments={
|
||||
'pause': 'true'
|
||||
}.items()
|
||||
)
|
||||
|
||||
gazebo_client = IncludeLaunchDescription(
|
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PythonLaunchDescriptionSource([
|
||||
PathJoinSubstitution([
|
||||
FindPackageShare('gazebo_ros'),
|
||||
'launch',
|
||||
'gzclient.launch.py'
|
||||
])
|
||||
])
|
||||
)
|
||||
|
||||
urdf_spawn_node = Node(
|
||||
package='gazebo_ros',
|
||||
executable='spawn_entity.py',
|
||||
arguments=[
|
||||
'-entity', 'duru_urdf',
|
||||
'-topic', 'robot_description'
|
||||
],
|
||||
output='screen'
|
||||
)
|
||||
|
||||
return LaunchDescription([
|
||||
robot_state_publisher_node,
|
||||
joint_state_publisher_node,
|
||||
gazebo_server,
|
||||
gazebo_client,
|
||||
urdf_spawn_node,
|
||||
])
|
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+24
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>duru_urdf_description</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The duru_urdf_description package</description>
|
||||
<maintainer email="todo@todo.com">author</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<depend>xacro</depend>
|
||||
<depend>rviz2</depend>
|
||||
<depend>robot_state_publisher</depend>
|
||||
<depend>joint_state_publisher</depend>
|
||||
<depend>joint_state_publisher_gui</depend>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,4 @@
|
||||
[develop]
|
||||
script-dir=$base/lib/duru_urdf_description
|
||||
[install]
|
||||
install-scripts=$base/lib/duru_urdf_description
|
||||
@@ -0,0 +1,31 @@
|
||||
from setuptools import setup
|
||||
import os
|
||||
from glob import glob
|
||||
|
||||
package_name = 'duru_urdf_description'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.0.0',
|
||||
packages=[package_name],
|
||||
data_files=[
|
||||
('share/ament_index/resource_index/packages',
|
||||
['resource/' + package_name]),
|
||||
('share/' + package_name, ['package.xml']),
|
||||
(os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
|
||||
(os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
|
||||
(os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
|
||||
(os.path.join('share', package_name, 'config'), glob('config/*'))
|
||||
],
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
maintainer='author',
|
||||
maintainer_email='todo@todo.com',
|
||||
description='The ' + package_name + ' package',
|
||||
license='TODO: License declaration',
|
||||
tests_require=['pytest'],
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
],
|
||||
},
|
||||
)
|
||||
@@ -0,0 +1,23 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_copyright.main import main
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.copyright
|
||||
@pytest.mark.linter
|
||||
def test_copyright():
|
||||
rc = main(argv=['.', 'test'])
|
||||
assert rc == 0, 'Found errors'
|
||||
@@ -0,0 +1,25 @@
|
||||
# Copyright 2017 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_flake8.main import main_with_errors
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.flake8
|
||||
@pytest.mark.linter
|
||||
def test_flake8():
|
||||
rc, errors = main_with_errors(argv=[])
|
||||
assert rc == 0, \
|
||||
'Found %d code style errors / warnings:\n' % len(errors) + \
|
||||
'\n'.join(errors)
|
||||
@@ -0,0 +1,23 @@
|
||||
# Copyright 2015 Open Source Robotics Foundation, Inc.
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
|
||||
from ament_pep257.main import main
|
||||
import pytest
|
||||
|
||||
|
||||
@pytest.mark.linter
|
||||
@pytest.mark.pep257
|
||||
def test_pep257():
|
||||
rc = main(argv=['.', 'test'])
|
||||
assert rc == 0, 'Found code style errors / warnings'
|
||||
@@ -0,0 +1,59 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||
|
||||
<xacro:property name="body_color" value="Gazebo/Silver" />
|
||||
|
||||
<gazebo>
|
||||
<plugin name="control" filename="libgazebo_ros_control.so"/>
|
||||
</gazebo>
|
||||
<gazebo reference="base_link">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
<gravity>true</gravity>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="fwl_1_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="fwr_1_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="rwr_1_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="rwl_1_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="imu_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="lidar_1">
|
||||
<material>${body_color}</material>
|
||||
<mu1>0.2</mu1>
|
||||
<mu2>0.2</mu2>
|
||||
<self_collide>true</self_collide>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,48 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||
|
||||
<transmission name="fwl_joint_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="fwl_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="fwl_joint_actr">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="fwr_joint_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="fwr_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="fwr_joint_actr">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="rwr_joint_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rwr_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="rwr_joint_actr">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="rwl_joint_tran">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="rwl_joint">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="rwl_joint_actr">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,194 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:include filename="$(find duru_urdf_description)/urdf/materials.xacro" />
|
||||
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.trans" />
|
||||
<xacro:include filename="$(find duru_urdf_description)/urdf/duru_urdf.gazebo" />
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.0025063996888676993 6.18864581074269e-17 0.144708365482515" rpy="0 0 0"/>
|
||||
<mass value="203.16003115712493"/>
|
||||
<inertia ixx="4.307522" iyy="8.227537" izz="9.633563" ixy="-0.0" iyz="0.0" ixz="-0.093878"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="fwl_1_1">
|
||||
<inertial>
|
||||
<origin xyz="2.7755575615628914e-17 0.03249999999999997 6.938893903907228e-18" rpy="0 0 0"/>
|
||||
<mass value="3.2845580573678106"/>
|
||||
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.184 -0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/fwl_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="fwr_1_1">
|
||||
<inertial>
|
||||
<origin xyz="-5.551115123125783e-17 -0.03249999999999997 -2.0816681711721685e-17" rpy="0 0 0"/>
|
||||
<mass value="3.2845580573678106"/>
|
||||
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.184 0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/fwr_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="rwr_1_1">
|
||||
<inertial>
|
||||
<origin xyz="-2.7755575615628914e-17 -0.03249999999999997 -1.3877787807814457e-17" rpy="0 0 0"/>
|
||||
<mass value="3.2845580573678084"/>
|
||||
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="-0.0" iyz="-0.0" ixz="0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.184 0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/rwr_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="rwl_1_1">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.03249999999999997 -6.938893903907228e-18" rpy="0 0 0"/>
|
||||
<mass value="3.2845580573678084"/>
|
||||
<inertia ixx="0.015358" iyy="0.028404" izz="0.015358" ixy="0.0" iyz="0.0" ixz="-0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.184 -0.255 -0.0615" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/rwl_1_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="imu_1">
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.010000000000000064" rpy="0 0 0"/>
|
||||
<mass value="0.32813000000000003"/>
|
||||
<inertia ixx="9.4e-05" iyy="5e-05" izz="0.000122" ixy="-0.0" iyz="-0.0" ixz="-0.0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.0 -0.0 -0.286" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/imu_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="lidar_1">
|
||||
<inertial>
|
||||
<origin xyz="0.007899963334043858 -5.87501579063704e-17 0.021704966301194728" rpy="0 0 0"/>
|
||||
<mass value="1.4388945419522388"/>
|
||||
<inertia ixx="0.000754" iyy="0.00074" izz="0.000846" ixy="-0.0" iyz="-0.0" ixz="3.9e-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="-0.227349 0.0 -0.37207" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://$(find duru_urdf_description)/meshes/lidar_1.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="fwl_joint" type="continuous">
|
||||
<origin xyz="0.184 0.255 0.0615" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="fwl_1_1"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="fwr_joint" type="continuous">
|
||||
<origin xyz="0.184 -0.255 0.0615" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="fwr_1_1"/>
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="rwr_joint" type="continuous">
|
||||
<origin xyz="-0.184 -0.255 0.0615" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="rwr_1_1"/>
|
||||
<axis xyz="0.0 -1.0 0.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="rwl_joint" type="continuous">
|
||||
<origin xyz="-0.184 0.255 0.0615" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="rwl_1_1"/>
|
||||
<axis xyz="0.0 1.0 0.0"/>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin xyz="0.0 0.0 0.286" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_1"/>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<origin xyz="0.227349 0.0 0.37207" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="lidar_1"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="duru_urdf" xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||
|
||||
<material name="silver">
|
||||
<color rgba="0.700 0.700 0.700 1.000"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
Reference in New Issue
Block a user