add agv_pro_gazebo
This commit is contained in:
jiaweilong66
@@ -0,0 +1,123 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||
|
||||
<!-- Gazebo-specific properties -->
|
||||
<xacro:property name="wheel_damping" value="0.1"/>
|
||||
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||
|
||||
<!-- Base footprint -->
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||
<mass value="19.236" />
|
||||
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Gazebo plugin for control -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/White</material>
|
||||
<mu1>1.0</mu1>
|
||||
<mu2>1.0</mu2>
|
||||
<kp>100000.0</kp>
|
||||
<kd>1.0</kd>
|
||||
</gazebo>
|
||||
|
||||
<!-- Include wheel macros -->
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||
<!-- Add all four wheels using macro -->
|
||||
<xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||
|
||||
<xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||
|
||||
<!-- Lidar -->
|
||||
<link name="laser_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||
<mass value="0.049095" />
|
||||
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="laser_link" />
|
||||
</joint>
|
||||
|
||||
<!-- ros2_control tag -->
|
||||
<ros2_control name="AGVHardware" type="system">
|
||||
<hardware>
|
||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||
</hardware>
|
||||
|
||||
<joint name="right_rear_wheel_joint">
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<joint name="left_rear_wheel_joint">
|
||||
<command_interface name="velocity"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,93 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agv_pro">
|
||||
|
||||
<!-- Define vehicle dimensions -->
|
||||
<xacro:property name="vehicle_width" value="0.36"/> <!-- 车辆宽度 -->
|
||||
<xacro:property name="wheel_radius" value="0.05"/> <!-- 轮子半径 -->
|
||||
|
||||
<!-- Gazebo-specific properties -->
|
||||
<xacro:property name="wheel_damping" value="0.1"/>
|
||||
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||
|
||||
<!-- Base footprint -->
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||
<mass value="19.236" />
|
||||
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
<material name=""/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Include wheel macros & controller definitions -->
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||
|
||||
<!-- Wheels definition -->
|
||||
<!-- Right Rear Wheel -->
|
||||
<xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<!-- Right Front Wheel -->
|
||||
<xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<!-- Left Front Wheel -->
|
||||
<xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||
|
||||
<!-- Left Rear Wheel -->
|
||||
<xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||
|
||||
|
||||
<!-- Lidar definition -->
|
||||
<link name="laser_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||
<mass value="0.049095" />
|
||||
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
<material name=""/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="laser_link" />
|
||||
</joint>
|
||||
|
||||
<!-- Include ros2_controller.xacro to define controllers -->
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/ros2_controller.xacro"/>
|
||||
<xacro:ros2_controller/>
|
||||
<xacro:gazebo_control_plugin/>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,144 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||
|
||||
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||
<xacro:property name="wheel_damping" value="0.1"/>
|
||||
|
||||
<!-- Macro: wheel with Gazebo plugin -->
|
||||
<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
|
||||
<link name="${name}_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh}" />
|
||||
</geometry>
|
||||
<material name=""><color rgba="1 1 1 1"/></material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="${mesh}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${name}_joint" type="continuous">
|
||||
<origin xyz="${origin_xyz}" rpy="${origin_rpy}"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="${name}_link"/>
|
||||
<axis xyz="${wheel_axis}"/>
|
||||
<dynamics damping="${wheel_damping}"/>
|
||||
</joint>
|
||||
|
||||
<transmission name="${name}_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="${name}_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="${name}_joint">
|
||||
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
|
||||
<gazebo reference="${name}_link">
|
||||
<mu1>0.8</mu1>
|
||||
<mu2>0.8</mu2>
|
||||
<kp>100000.0</kp>
|
||||
<kd>1.0</kd>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
|
||||
<!-- Base links -->
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link"/>
|
||||
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||
<mass value="19.236" />
|
||||
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
|
||||
iyy="0.24191" iyz="0.0044629" izz="0.33755"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- Gazebo plugin for ros2_control -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
|
||||
</gazebo>
|
||||
|
||||
<!-- Wheels -->
|
||||
<xacro:wheel name="right_rear_wheel"
|
||||
mesh="package://agv_pro_description/meshes/wheel_rb_link.stl"
|
||||
origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0"
|
||||
mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
|
||||
iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<xacro:wheel name="right_front_wheel"
|
||||
mesh="package://agv_pro_description/meshes/wheel_rf_link.stl"
|
||||
origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0"
|
||||
mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
|
||||
iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
|
||||
<xacro:wheel name="left_front_wheel"
|
||||
mesh="package://agv_pro_description/meshes/wheel_lf_link.stl"
|
||||
origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0"
|
||||
mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
|
||||
iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||
|
||||
<xacro:wheel name="left_rear_wheel"
|
||||
mesh="package://agv_pro_description/meshes/wheel_lb_link.stl"
|
||||
origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0"
|
||||
mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
|
||||
iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||
|
||||
<!-- Lidar -->
|
||||
<link name="laser_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0"/>
|
||||
<mass value="0.049095"/>
|
||||
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07"
|
||||
iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<origin xyz="0.17891 0 0.20928" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="laser_link"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,91 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||
|
||||
<!-- Gazebo-specific properties -->
|
||||
<xacro:property name="wheel_damping" value="0.1"/>
|
||||
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||
|
||||
<!-- Base footprint -->
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||
<mass value="19.236" />
|
||||
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/White</material>
|
||||
<mu1>1.0</mu1>
|
||||
<mu2>1.0</mu2>
|
||||
<kp>100000.0</kp>
|
||||
<kd>1.0</kd>
|
||||
</gazebo>
|
||||
|
||||
<!-- Include wheel macros & plugin -->
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||
|
||||
<!-- All four wheels with corrected mesh paths -->
|
||||
<xacro:wheel name="right_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
<xacro:wheel name="right_front_wheel" mesh="model://agv_pro_description/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||
<xacro:wheel name="left_front_wheel" mesh="model://agv_pro_description/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||
<xacro:wheel name="left_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||
|
||||
<!-- Lidar -->
|
||||
<link name="laser_link">
|
||||
<inertial>
|
||||
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||
<mass value="0.049095" />
|
||||
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="laser_link" />
|
||||
</joint>
|
||||
|
||||
<!-- 插件调用 -->
|
||||
<xacro:gazebo_control_plugin/>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="gazebo_control_plugin">
|
||||
<gazebo>
|
||||
<!-- 使用全向控制插件 -->
|
||||
<plugin filename="libgazebo_ros_planar_move.so" name="mecanum_drive_controller">
|
||||
<ros>
|
||||
<remapping>cmd_vel:=/cmd_vel</remapping>
|
||||
<remapping>odom:=/odom</remapping>
|
||||
</ros>
|
||||
|
||||
<!-- 配置全向控制 -->
|
||||
<frontLeftJoint>front_left_wheel_joint</frontLeftJoint> <!-- 前左轮 -->
|
||||
<frontRightJoint>front_right_wheel_joint</frontRightJoint> <!-- 前右轮 -->
|
||||
<rearLeftJoint>rear_left_wheel_joint</rearLeftJoint> <!-- 后左轮 -->
|
||||
<rearRightJoint>rear_right_wheel_joint</rearRightJoint> <!-- 后右轮 -->
|
||||
|
||||
<wheelDiameter>0.1</wheelDiameter> <!-- 轮子直径 -->
|
||||
<wheelSeparation>0.36</wheelSeparation> <!-- 轮距（车辆宽度） -->
|
||||
|
||||
<torque>20</torque> <!-- 轮子扭矩 -->
|
||||
<topicName>cmd_vel</topicName> <!-- 控制命令话题 -->
|
||||
<odometryFrame>odom</odometryFrame> <!-- 里程计坐标系 -->
|
||||
<odometryTopic>odom</odometryTopic> <!-- 里程计话题 -->
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame> <!-- 机器人基础坐标系 -->
|
||||
<publishOdomTF>true</publishOdomTF> <!-- 发布里程计变换 -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,58 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
|
||||
|
||||
<link name="${name}_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh}" />
|
||||
</geometry>
|
||||
<material name="gray">
|
||||
<color rgba="0.3 0.3 0.3 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="${mesh}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_joint" type="continuous">
|
||||
<origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
|
||||
<parent link="base_link" />
|
||||
<child link="${name}_link" />
|
||||
<axis xyz="0 1 0"/>
|
||||
<dynamics damping="0.1"/>
|
||||
</joint>
|
||||
|
||||
<!-- Correct transmission for ROS2 -->
|
||||
<transmission name="${name}_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${name}_joint">
|
||||
<hardwareInterface>hardware_interface/velocity</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${name}_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>hardware_interface/velocity</hardwareInterface>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<gazebo reference="${name}_link">
|
||||
<mu1>0.8</mu1>
|
||||
<mu2>0.8</mu2>
|
||||
<kp>100000.0</kp>
|
||||
<kd>1.0</kd>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
@@ -0,0 +1,57 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="ros2_controller">
|
||||
<ros2_control name="FishBotGazeboSystem" type="system">
|
||||
<hardware>
|
||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||
</hardware>
|
||||
|
||||
<!-- 配置所有轮子的控制接口 -->
|
||||
<joint name="front_left_wheel_joint">
|
||||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
<command_interface name="effort" />
|
||||
<state_interface name="position" />
|
||||
<state_interface name="velocity" />
|
||||
<state_interface name="effort" />
|
||||
</joint>
|
||||
|
||||
<joint name="front_right_wheel_joint">
|
||||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
<command_interface name="effort" />
|
||||
<state_interface name="position" />
|
||||
<state_interface name="velocity" />
|
||||
<state_interface name="effort" />
|
||||
</joint>
|
||||
|
||||
<joint name="rear_left_wheel_joint">
|
||||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
<command_interface name="effort" />
|
||||
<state_interface name="position" />
|
||||
<state_interface name="velocity" />
|
||||
<state_interface name="effort" />
|
||||
</joint>
|
||||
|
||||
<joint name="rear_right_wheel_joint">
|
||||
<command_interface name="position" />
|
||||
<command_interface name="velocity" />
|
||||
<command_interface name="effort" />
|
||||
<state_interface name="position" />
|
||||
<state_interface name="velocity" />
|
||||
<state_interface name="effort" />
|
||||
</joint>
|
||||
</ros2_control>
|
||||
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
|
||||
<parameters>$(find agv_pro_description)/config/agv_control.yaml</parameters>
|
||||
<ros>
|
||||
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
|
||||
<remapping>/omni_drive_controller/odom:=/odom</remapping>
|
||||
</ros>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user