add agv_pro_gazebo

2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
25 changed files with 1212 additions and 0 deletions
@@ -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>