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Refactor the URDF into multiple parts.

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Makes it easier to work on an individual part in isolation.
Also change the vscode devconsole visualiser to one that works with includes
This commit is contained in:
Matt Spencer
2026-05-07 20:41:18 +00:00
parent 68305b3848
commit 54ed5c6a82
11 changed files with 587 additions and 122 deletions
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robot/src/raspbot_v2/urdf/sonar.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ─────────────────────────────────────────────────────────────────────
HC-SR04 ultrasonic range sensor
frame_id "ultrasonic" matches what ultrasonic_node publishes on
/ultrasonic/range. Mounted on the front face of the chassis,
pointing forward.
───────────────────────────────────────────────────────────────────── -->
<link name="ultrasonic">
<visual>
<geometry><box size="0.02 0.04 0.02"/></geometry>
<material name="light_grey"/>
</visual>
<collision>
<geometry><box size="0.02 0.04 0.02"/></geometry>
</collision>
<inertial>
<mass value="0.01"/>
<inertia ixx="0.000001" ixy="0" ixz="0"
iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>
</link>
<joint name="ultrasonic_joint" type="fixed">
<parent link="base_link"/>
<child link="ultrasonic"/>
<!-- Front-centre of the chassis, mid-height -->
<origin xyz="${base_length/2 + 0.01} 0.0 0.0" rpy="0 0 0"/>
</joint>
<!-- ─────────────────────────────────────────────────────────────────────
Gazebo sonar sensor (Gazebo Harmonic / gz-sim)
Simulated as a narrow-cone ray sensor. Data is published on gz topic
/ultrasonic/range and bridged to ROS 2 via ros_gz_bridge:
/ultrasonic/range (gz) → /ultrasonic/range (ROS 2, sensor_msgs/Range)
───────────────────────────────────────────────────────────────────── -->
<gazebo reference="ultrasonic">
<sensor name="sonar" type="sonar">
<always_on>1</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<topic>/ultrasonic/range</topic>
<gz_frame_id>ultrasonic</gz_frame_id>
<sonar>
<!-- HC-SR04 datasheet values -->
<min>${sonar_min_range}</min>
<max>${sonar_max_range}</max>
<!-- Half-angle of the cone in radians (~15° full FOV → 0.13 rad half-angle) -->
<radius>0.13</radius>
</sonar>
</sensor>
</gazebo>
</robot>