jiaweilong66
92 lines
3.6 KiB
XML
92 lines
3.6 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
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<!-- Gazebo-specific properties -->
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<xacro:property name="wheel_damping" value="0.1"/>
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<xacro:property name="wheel_axis" value="0 1 0"/>
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<!-- Base footprint -->
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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" 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="model://agv_pro_description/meshes/base_link.stl" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</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="model://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 reference="base_link">
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<material>Gazebo/White</material>
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<mu1>1.0</mu1>
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<mu2>1.0</mu2>
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<kp>100000.0</kp>
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<kd>1.0</kd>
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</gazebo>
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<!-- Include wheel macros & plugin -->
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<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
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<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
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<!-- All four wheels with corrected mesh paths -->
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<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"/>
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<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"/>
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<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"/>
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<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"/>
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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" 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="model://agv_pro_description/meshes/laser_link.stl" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</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="model://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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<!-- 插件调用 -->
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<xacro:gazebo_control_plugin/>
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</robot>
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