Add robot definition URDF
This enables rviz2 to know where sensors etc are. None of the data is correct for the raspbot-v2 yet.
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@@ -7,6 +7,7 @@ SHELL ["/bin/bash", "-c"]
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RUN apt-get update && apt-get install -y --no-install-recommends \
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python3-colcon-common-extensions \
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ros-${ROS_DISTRO}-xacro \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR /ws
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@@ -26,6 +27,9 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-std-msgs \
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ros-${ROS_DISTRO}-sensor-msgs \
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ros-${ROS_DISTRO}-launch-ros \
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ros-${ROS_DISTRO}-robot-state-publisher \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-tf2-ros \
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python3-smbus \
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&& rm -rf /var/lib/apt/lists/*
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@@ -1,10 +1,22 @@
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import LaunchConfiguration, Command
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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def generate_launch_description():
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urdf_file = os.path.join(
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get_package_share_directory('raspbot_v2'), 'urdf', 'raspbot_v2.urdf.xacro'
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)
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robot_description = ParameterValue(
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Command(['xacro ', urdf_file]),
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value_type=str,
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)
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return LaunchDescription([
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# ── Motor controller arguments ────────────────────────────────────
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@@ -23,6 +35,33 @@ def generate_launch_description():
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DeclareLaunchArgument('tilt_center_deg', default_value='60.0',
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description='Tilt angle at startup and shutdown (degrees)'),
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# ── TF / robot description ────────────────────────────────────────
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description}],
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output='screen',
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),
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# Static: map → odom (identity — replace with SLAM/AMCL when ready)
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='map_to_odom',
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arguments=['0', '0', '0', '0', '0', '0', 'map', 'odom'],
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output='screen',
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),
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# Static: odom → base_footprint (placeholder until odometry is added)
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Node(
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package='tf2_ros',
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executable='static_transform_publisher',
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name='odom_to_base',
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arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'],
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output='screen',
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),
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# ── Nodes ─────────────────────────────────────────────────────────
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Node(
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package='raspbot_v2',
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@@ -10,6 +10,7 @@ setup(
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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('share/' + package_name + '/launch', ['launch/robot.launch.py']),
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('share/' + package_name + '/urdf', ['urdf/raspbot_v2.urdf.xacro']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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@@ -0,0 +1,132 @@
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="raspbot_v2">
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<!--
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Physical dimensions — measure your robot and update these.
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All values in metres.
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-->
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<xacro:property name="base_length" value="0.20"/>
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<xacro:property name="base_width" value="0.15"/>
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<xacro:property name="base_height" value="0.06"/>
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<!-- ── Materials ──────────────────────────────────────────────── -->
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<material name="dark_grey">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<material name="light_grey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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<material name="blue">
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<color rgba="0.0 0.4 0.8 1.0"/>
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</material>
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<!-- ── Base link ──────────────────────────────────────────────── -->
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<link name="base_link">
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<visual>
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}"/>
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</geometry>
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<material name="dark_grey"/>
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</visual>
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<collision>
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<geometry>
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<box size="${base_length} ${base_width} ${base_height}"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.0"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0"
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iyy="0.01" iyz="0.0" izz="0.02"/>
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</inertial>
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</link>
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<!-- ── Footprint (ground-projected origin) ────────────────────── -->
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<link name="base_footprint"/>
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<joint name="base_footprint_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 ${base_height/2}" rpy="0 0 0"/>
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</joint>
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<!-- ── Lidar ──────────────────────────────────────────────────── -->
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<!--
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frame_id published by sllidar_ros2 is "laser".
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Adjust xyz to where the lidar is mounted on your robot.
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Typical: top-centre, facing forward.
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-->
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<link name="laser">
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<visual>
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<geometry><cylinder radius="0.04" length="0.04"/></geometry>
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<material name="light_grey"/>
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</visual>
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</link>
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<joint name="laser_joint" type="fixed">
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<parent link="base_link"/>
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<child link="laser"/>
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<!-- Adjust x/y/z: x=forward, y=left, z=up from base_link centre -->
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<origin xyz="0.0 0.0 0.07" rpy="0 0 0"/>
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</joint>
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<!-- ── Ultrasonic sensor ──────────────────────────────────────── -->
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<!--
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frame_id published by ultrasonic_node is "ultrasonic".
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Typical: front face of the chassis, pointing forward.
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-->
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<link name="ultrasonic">
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<visual>
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<geometry><box size="0.02 0.04 0.02"/></geometry>
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<material name="light_grey"/>
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</visual>
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</link>
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<joint name="ultrasonic_joint" type="fixed">
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<parent link="base_link"/>
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<child link="ultrasonic"/>
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<!-- Front-centre of the chassis, roughly mid-height -->
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<origin xyz="${base_length/2} 0.0 0.0" rpy="0 0 0"/>
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</joint>
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<!-- ── Camera pan/tilt mount ──────────────────────────────────── -->
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<!--
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The camera_orientation node publishes joint_states for joints
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named "pan" and "tilt". robot_state_publisher will drive these
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dynamically from that topic.
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-->
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<link name="camera_base">
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<visual>
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<geometry><box size="0.03 0.03 0.03"/></geometry>
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<material name="dark_grey"/>
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</visual>
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</link>
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<joint name="camera_base_joint" type="fixed">
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<parent link="base_link"/>
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<child link="camera_base"/>
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<!-- Top-front of robot; adjust to match servo mount position -->
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<origin xyz="0.05 0.0 0.06" rpy="0 0 0"/>
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</joint>
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<!-- Pan joint (yaw, around Z) -->
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<link name="camera_pan_link"/>
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<joint name="pan" type="revolute">
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<parent link="camera_base"/>
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<child link="camera_pan_link"/>
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<axis xyz="0 0 1"/>
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<origin xyz="0 0 0.015" rpy="0 0 0"/>
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<limit lower="-1.5708" upper="1.5708" effort="1.0" velocity="1.0"/>
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</joint>
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<!-- Tilt joint (pitch, around Y) -->
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<link name="camera_link">
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<visual>
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<geometry><box size="0.03 0.06 0.02"/></geometry>
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<material name="blue"/>
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</visual>
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</link>
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<joint name="tilt" type="revolute">
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<parent link="camera_pan_link"/>
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<child link="camera_link"/>
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<axis xyz="0 1 0"/>
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<origin xyz="0.02 0 0" rpy="0 0 0"/>
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<limit lower="-0.5236" upper="0.9599" effort="1.0" velocity="1.0"/>
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</joint>
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</robot>
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