可正常于显示rviz中显示模型
This commit is contained in:
165
simulation_ws/trolley/urdf/miniBox.urdf.xacro
Normal file
165
simulation_ws/trolley/urdf/miniBox.urdf.xacro
Normal file
@@ -0,0 +1,165 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="box_bot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<!-- 参数-->
|
||||
<xacro:property name="pi" value="3.14159265359" />
|
||||
<!-- 车子长度 -->
|
||||
<xacro:property name="base_l" value="0.40" />
|
||||
<!-- 车子宽度 -->
|
||||
<xacro:property name="base_w" value="0.30" />
|
||||
<!-- 车子高度 -->
|
||||
<xacro:property name="base_h" value="0.12" />
|
||||
<!-- 车子质量 -->
|
||||
<xacro:property name="base_mass" value="5.0" />
|
||||
|
||||
<!-- 轮子半径 -->
|
||||
<xacro:property name="wheel_r" value="0.05" />
|
||||
<!-- 轮子宽度 -->
|
||||
<xacro:property name="wheel_w" value="0.03" />
|
||||
<!-- 轮子质量 -->
|
||||
<xacro:property name="wheel_mass" value="0.3" />
|
||||
|
||||
<!-- base_link-->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 ${base_h/2}" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="${base_l} ${base_w} ${base_h}" />
|
||||
</geometry>
|
||||
<material name="Gray">
|
||||
<color rgba="0.5 0.5 0.5 1.0" />
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 ${base_h/2}" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="${base_l} ${base_w} ${base_h}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<!-- 简化惯性 -->
|
||||
<inertial>
|
||||
<origin xyz="0 0 ${base_h/2}" rpy="0 0 0" />
|
||||
<mass value="${base_mass}" />
|
||||
<!-- 盒子惯性：Ixx = 1/12 m (y^2 + z^2) 等 -->
|
||||
<inertia
|
||||
ixx="${(1.0/12.0)*base_mass*(base_w*base_w + base_h*base_h)}"
|
||||
iyy="${(1.0/12.0)*base_mass*(base_l*base_l + base_h*base_h)}"
|
||||
izz="${(1.0/12.0)*base_mass*(base_l*base_l + base_w*base_w)}"
|
||||
ixy="0" ixz="0" iyz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- 轮子宏,生成wheel_link和wheel_joint -->
|
||||
<xacro:macro name="wheel" params="name x y z">
|
||||
<link name="${name}_link">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
|
||||
<geometry>
|
||||
<cylinder radius="${wheel_r}" length="${wheel_w}" />
|
||||
</geometry>
|
||||
<material name="Black">
|
||||
<color rgba="0.1 0.1 0.1 1.0" />
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<cylinder radius="${wheel_r}" length="${wheel_w}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="${wheel_mass}" />
|
||||
<!-- 圆柱体惯性：Ixx = Iyy = (1/12) m (3r^2 + h^2) 等 -->
|
||||
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_joint" type="continuous">
|
||||
<parent link="base_link" />
|
||||
<child link="${name}_link" />
|
||||
<origin xyz="${x} ${y} ${z}" rpy="0.0 0.0 0.0" />
|
||||
<!-- 轮子绕y轴旋转 -->
|
||||
<axis xyz="0.0 1.0 0.0" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
|
||||
<!-- 生成四个轮子 -->
|
||||
<xacro:wheel name="front_left_wheel" x="${base_l/2 - wheel_r}" y="${base_w/2}" z="${wheel_r}" />
|
||||
<xacro:wheel name="front_right_wheel" x="${base_l/2 - wheel_r}" y="-${base_w/2}" z="${wheel_r}" />
|
||||
<xacro:wheel name="rear_left_wheel" x="-${base_l/2 + wheel_r}" y="${base_w/2}" z="${wheel_r}" />
|
||||
<xacro:wheel name="rear_right_wheel" x="-${base_l/2 + wheel_r}" y="-${base_w/2}" z="${wheel_r}" />
|
||||
|
||||
|
||||
<!-- 雷达支架 -->
|
||||
<!-- 通常放到轮心高度 -->
|
||||
<link name="lidar_mount_link">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 ${base_h+0.05}" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.10" />
|
||||
</geometry>
|
||||
|
||||
<material name="Blue">
|
||||
<color rgba="0.2 0.2 0.8 1.0" />
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0.0 0.0 ${base_h+0.05}" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.10" />
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<!-- 简化惯性 -->
|
||||
<inertial>
|
||||
<origin xyz="0 0 ${base_h + 0.05}" rpy="0 0 0" />
|
||||
<mass value="0.2" />
|
||||
<inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="lidar_mount_joint" type="fixed">
|
||||
<parent link="base_link" />
|
||||
<child link="lidar_mount_link" />
|
||||
<!-- 前方: x正方向 -->
|
||||
<origin xyz="${base_l/2 - 0.05} 0 0" rpy="0.0 0.0 0.0" />
|
||||
</joint>
|
||||
|
||||
<!-- 四轮驱动插件(skid steer) -->
|
||||
<gazebo>
|
||||
<plugin name="skid_steer_drive" filename="libgazebo_ros_skid_steer_drive.so">
|
||||
<ros>
|
||||
<namespace>/</namespace>
|
||||
</ros>
|
||||
|
||||
<!-- cmd_vel 输入 -->
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
|
||||
<!-- 里程计 -->
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<robotBaseFrame>base_link</robotBaseFrame>
|
||||
|
||||
<!-- 四个轮子关节命名 -->
|
||||
<leftFrontWheelJoint>front_left_wheel_joint</leftFrontWheelJoint>
|
||||
<rightFrontWheelJoint>front_right_wheel_joint</rightFrontWheelJoint>
|
||||
<leftRearWheelJoint>rear_left_wheel_joint</leftRearWheelJoint>
|
||||
<rightRearWheelJoint>rear_right_wheel_joint</rightRearWheelJoint>
|
||||
|
||||
<!-- 几何参数 -->
|
||||
<wheelSeparation>${base_w}</wheelSeparation>
|
||||
<wheelDiameter>${2*wheel_r}</wheelDiameter>
|
||||
|
||||
<!-- 可调 -->
|
||||
<wheelTorque>5.0</wheelTorque>
|
||||
<updateRate>50</updateRate>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
Reference in New Issue
Block a user