m5p3nc3r/agv_pro_ros2
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This commit is contained in:
jiaweilong66
2025-06-26 16:49:48 +09:00
parent 308de9704d
commit cc47d164c6
7 changed files with 26 additions and 26 deletions
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agv_pro_gazebo/launch/agv_pro.launch.py
+1 -1
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@@ -16,7 +16,7 @@ def generate_launch_description():
use_sim_time = LaunchConfiguration('use_sim_time') use_sim_time = LaunchConfiguration('use_sim_time')
# Process the URDF file # Process the URDF file
pkg_path = os.path.join(get_package_share_directory('agv_pro_description')) pkg_path = os.path.join(get_package_share_directory('agv_pro_gazebo'))
xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro') xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
robot_description_config = xacro.process_file(xacro_file) robot_description_config = xacro.process_file(xacro_file)
agv_pro_gazebo/launch/agv_pro_display.launch.py
+2 -2
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@@ -10,12 +10,12 @@ def generate_launch_description():
use_rviz = LaunchConfiguration('use_rviz', default='true') use_rviz = LaunchConfiguration('use_rviz', default='true')
rviz_config_dir = os.path.join( rviz_config_dir = os.path.join(
get_package_share_directory('agv_pro_description'), get_package_share_directory('agv_pro_gazebo'),
'rviz', 'rviz',
'agvpro_display.rviz') 'agvpro_display.rviz')
urdf_file = os.path.join( urdf_file = os.path.join(
get_package_share_directory('agv_pro_description'), get_package_share_directory('agv_pro_gazebo'),
'urdf', 'urdf',
'agv_pro.urdf' 'agv_pro.urdf'
) )
agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
+1 -1
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@@ -8,7 +8,7 @@ from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory from ament_index_python.packages import get_package_share_directory
def generate_launch_description(): def generate_launch_description():
pkg_name = 'agv_pro_description' pkg_name = 'agv_pro_gazebo'
pkg_dir = get_package_share_directory(pkg_name) pkg_dir = get_package_share_directory(pkg_name)
xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro') xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
agv_pro_gazebo/package.xml
+7 -7
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@@ -1,12 +1,13 @@
<?xml version="1.0"?> <?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"> <package format="3">
<name>agv_pro_gazebo</name> <name>agv_pro_gazebo</name>
<version>1.0.0</version> <version>1.0.0</version>
<description>URDF Description package for AGV Pro</description> <description>
<p>URDF Description package for AGV pro</p>
<maintainer email="weijun.xie@elephantrobotics.com">Weijun Xie</maintainer> </description>
<license>BSD-3-Clause</license> <maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
<license>BSD-3-Clause license</license>
<!-- Build tool --> <!-- Build tool -->
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>xacro</buildtool_depend> <buildtool_depend>xacro</buildtool_depend>
@@ -25,13 +26,12 @@
<depend>joint_state_broadcaster</depend> <depend>joint_state_broadcaster</depend>
<depend>diff_drive_controller</depend> <depend>diff_drive_controller</depend>
<depend>teleop_twist_keyboard</depend> <depend>teleop_twist_keyboard</depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- Test dependencies -->
<test_depend>ament_lint_auto</test_depend> <test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
</export> </export>
</package> </package>
agv_pro_gazebo/urdf/agv_pro.xacro
+11 -11
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@@ -27,33 +27,33 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" /> <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
</geometry> </geometry>
<material name=""/> <material name=""/>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" /> <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
<!-- Include wheel macros & controller definitions --> <!-- Include wheel macros & controller definitions -->
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/> <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/wheel_macro.xacro"/>
<!-- Wheels definition --> <!-- Wheels definition -->
<!-- Right Rear Wheel --> <!-- Right Rear Wheel -->
<xacro:wheel name="right_rear_wheel" mesh="file://$(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"/> <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
<!-- Right Front Wheel --> <!-- Right Front Wheel -->
<xacro:wheel name="right_front_wheel" mesh="file://$(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"/> <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
<!-- Left Front Wheel --> <!-- Left Front Wheel -->
<xacro:wheel name="left_front_wheel" mesh="file://$(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"/> <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
<!-- Left Rear Wheel --> <!-- Left Rear Wheel -->
<xacro:wheel name="left_rear_wheel" mesh="file://$(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"/> <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
<!-- Lidar definition --> <!-- Lidar definition -->
@@ -66,14 +66,14 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" /> <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
</geometry> </geometry>
<material name=""/> <material name=""/>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" /> <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
</geometry> </geometry>
</collision> </collision>
</link> </link>
@@ -85,8 +85,8 @@
</joint> </joint>
<!-- Include ros2_controller.xacro to define controllers --> <!-- Include ros2_controller.xacro to define controllers -->
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/> <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/gazebo_control_plugin.xacro"/>
<xacro:include filename="$(find agv_pro_description)/urdf/ros2_controller.xacro"/> <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
<xacro:ros2_controller/> <xacro:ros2_controller/>
<xacro:gazebo_control_plugin/> <xacro:gazebo_control_plugin/>
agv_pro_gazebo/urdf/ros2_controller.xacro
+1 -1
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@@ -46,7 +46,7 @@
<gazebo> <gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find agv_pro_description)/config/agv_control.yaml</parameters> <parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
<ros> <ros>
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping> <remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
<remapping>/omni_drive_controller/odom:=/odom</remapping> <remapping>/omni_drive_controller/odom:=/odom</remapping>