add agv_pro_gazebo
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jiaweilong66
@@ -0,0 +1,144 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
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<xacro:property name="wheel_axis" value="0 1 0"/>
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<xacro:property name="wheel_damping" value="0.1"/>
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<!-- Macro: wheel with Gazebo plugin -->
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<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
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<link name="${name}_link">
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<inertial>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<mass value="${mass}" />
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<inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="${mesh}" />
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</geometry>
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<material name=""><color rgba="1 1 1 1"/></material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="${mesh}" />
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</geometry>
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</collision>
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</link>
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<joint name="${name}_joint" type="continuous">
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<origin xyz="${origin_xyz}" rpy="${origin_rpy}"/>
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<parent link="base_link"/>
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<child link="${name}_link"/>
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<axis xyz="${wheel_axis}"/>
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<dynamics damping="${wheel_damping}"/>
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</joint>
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<transmission name="${name}_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="${name}_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="${name}_joint">
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<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<gazebo reference="${name}_link">
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<mu1>0.8</mu1>
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<mu2>0.8</mu2>
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<kp>100000.0</kp>
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<kd>1.0</kd>
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<material>Gazebo/Grey</material>
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</gazebo>
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</xacro:macro>
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<!-- Base links -->
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<link name="base_footprint"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<origin xyz="0 0 0.020" rpy="0 0 0"/>
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</joint>
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<link name="base_link">
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<inertial>
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<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
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<mass value="19.236" />
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<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
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iyy="0.24191" iyz="0.0044629" izz="0.33755"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
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</geometry>
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</collision>
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</link>
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<!-- Gazebo plugin for ros2_control -->
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<gazebo>
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<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
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</gazebo>
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<!-- Wheels -->
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<xacro:wheel name="right_rear_wheel"
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mesh="package://agv_pro_description/meshes/wheel_rb_link.stl"
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origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0"
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mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
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iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
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<xacro:wheel name="right_front_wheel"
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mesh="package://agv_pro_description/meshes/wheel_rf_link.stl"
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origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0"
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mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
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iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
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<xacro:wheel name="left_front_wheel"
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mesh="package://agv_pro_description/meshes/wheel_lf_link.stl"
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origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0"
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mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
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iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
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<xacro:wheel name="left_rear_wheel"
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mesh="package://agv_pro_description/meshes/wheel_lb_link.stl"
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origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0"
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mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
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iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
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<!-- Lidar -->
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<link name="laser_link">
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<inertial>
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<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0"/>
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<mass value="0.049095"/>
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<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07"
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iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="lidar_joint" type="fixed">
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<origin xyz="0.17891 0 0.20928" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="laser_link"/>
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</joint>
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</robot>
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