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add humble-navigation2

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X-lanni
2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
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navigation2/nav2_system_tests/urdf/turtlebot3_burger.urdf
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<?xml version="1.0" ?>
<robot name="turtlebot3_burger"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.urdf"/>
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
<geometry>
<box size="0.140 0.140 0.143"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="8.2573504e-01"/>
<inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05" iyy="2.1193702e-03" iyz="-5.0120904e-06" izz="2.0064271e-03" />
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin xyz="0 0 0" rpy="1.57 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="2.8498940e-02" />
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05" />
</inertial>
</link>
<joint name="caster_back_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_link"/>
<origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
</joint>
<link name="caster_back_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
</joint>
<link name="base_scan">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
</robot>