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add agv_pro_description

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X-lanni
2025-05-27 19:05:34 +08:00
parent e74ec539c2
commit 90d106d936
9 changed files with 255 additions and 0 deletions
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agv_pro_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(agv_pro_description)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(urdf REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY meshes urdf
DESTINATION share/${PROJECT_NAME}
)
ament_package()
agv_pro_description/meshes/base_link.stl
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agv_pro_description/meshes/left_front_wheel.stl
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agv_pro_description/meshes/left_rear_wheel.stl
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agv_pro_description/meshes/lidar.stl
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agv_pro_description/meshes/right_front_wheel.stl
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agv_pro_description/meshes/right_rear_wheel.stl
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agv_pro_description/package.xml
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<?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>agv_pro_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for AGV pro</p>
</description>
<maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
<license>BSD-3-Clause license</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
agv_pro_description/urdf/agv_pro.urdf
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<?xml version="1.0" encoding="utf-8"?>
<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.0431007708276438 1.98529026033929E-05 0.0656901341380885" rpy="0 0 0" />
<mass value="17.2325340030774" />
<inertia ixx="0.130530654388061" ixy="1.25356744591082E-05" ixz="0.00260872823952655"
iyy="0.234600827397763" iyz="-1.08543288319261E-05"
izz="0.320883175393455" />
</inertial>
<visual>
<origin xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/base_link.stl" />
</geometry>
<material name="">
<color rgba="0 0.686274509803922 0.384313725490196 1" />
</material>
</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>
<link name="right_rear_wheel_link">
<inertial>
<origin xyz="-4.1268E-08 -0.014058 4.809E-06" rpy="0 0 0" />
<mass value="0.21659" />
<inertia ixx="0.00045184" ixy="-2.3752E-07" ixz="-1.6377E-08"
iyy="0.0008608" iyz="6.8934E-09"
izz="0.00045128" />
</inertial>
<visual>
<origin xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/right_rear_wheel.stl" />
</geometry>
<material name="">
<color rgba="0.74118 0.90196 0.95686 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/right_rear_wheel.stl" />
</geometry>
</collision>
</link>
<joint name="right_rear_wheel_joint" type="fixed">
<origin xyz="-0.1239 -0.142 0.052" rpy="0 0 0" />
<parent link="base_link" />
<child link="right_rear_wheel_link" />
<axis xyz="0 0 0" />
</joint>
<link name="right_front_wheel_link">
<inertial>
<origin xyz="2.24622794741574E-06 -0.0140582850581192 -4.25241401135618E-06" rpy="0 0 0" />
<mass value="0.21659122149244" />
<inertia ixx="0.000451733958911204" ixy="2.14133462162245E-07" ixz="2.19425044898881E-07"
iyy="0.000860800194632781" iyz="1.03009700284975E-07"
izz="0.000451383161284103" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/right_front_wheel.stl" />
</geometry>
<material name="">
<color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/right_front_wheel.stl" />
</geometry>
</collision>
</link>
<joint name="right_front_wheel_joint" type="fixed">
<origin xyz="0.2191 -0.142 0.052"
rpy="0 0 0" />
<parent link="base_link" />
<child link="right_front_wheel_link" />
<axis xyz="0 0 0" />
</joint>
<link name="left_front_wheel_link">
<inertial>
<origin xyz="-2.79514271568464E-06 0.0140582854597342 3.91212172640154E-06" rpy="0 0 0" />
<mass value="0.216591225420666" />
<inertia ixx="0.000451625300911203" ixy="-1.87998059108676E-07" ixz="2.71888627187796E-07"
iyy="0.000860792252472034" iyz="-1.45335918849847E-07"
izz="0.000451484014611363" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/left_front_wheel.stl" />
</geometry>
<material name="">
<color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/left_front_wheel.stl" />
</geometry>
</collision>
</link>
<joint name="Left_front_wheel_joint" type="fixed">
<origin xyz="0.2191 0.142 0.052"
rpy="0 0 0" />
<parent link="base_link" />
<child link="left_front_wheel_link" />
<axis xyz="0 0 0" />
</joint>
<link name="left_rear_wheel_link">
<inertial>
<origin xyz="6.86055793786E-07 0.0140582850580976 -4.76003074739717E-06" rpy="0 0 0" />
<mass value="0.21659122149267" />
<inertia ixx="0.000451821289106536" ixy="2.33751294354773E-07" ixz="9.94261647253684E-08"
iyy="0.000860800194633265" iyz="4.27138200112425E-08"
izz="0.000451295831089451" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/left_rear_wheel.stl" />
</geometry>
<material name="">
<color rgba="0.741176470588235 0.901960784313726 0.956862745098039 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/left_rear_wheel.stl" />
</geometry>
</collision>
</link>
<joint name="left_rear_wheel_joint" type="fixed">
<origin xyz="-0.1239 0.142 0.052" rpy="0 0 0" />
<parent link="base_link" />
<child link="left_rear_wheel_link" />
<axis xyz="0 0 0" />
</joint>
<link name="base_scan">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0"
iyz="0"
izz="0" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://agv_pro_description/meshes/lidar.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="package://agv_pro_description/meshes/lidar.stl" />
</geometry>
</collision>
</link>
<joint name="lidar_joint" type="fixed">
<origin xyz="0.22254 0 0.2339"
rpy="0 0 0" />
<parent link="base_link" />
<child link="base_scan" />
<axis xyz="0 0 0" />
</joint>
</robot>