init
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Quella777
192
cart_front_steer/model.rsdf
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192
cart_front_steer/model.rsdf
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<?xml version="1.0" ?>
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<%
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# Vehicle with rigid suspension and front steering
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# Consists of box chassis with 2 steerable and 2 non-steerable wheels
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# SI units (length in meters)
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# Geometry
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chassis_dx = 1.0
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chassis_dy = 0.5
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chassis_dz = 0.1
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wheel_radius = 0.15
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wheel_width = 0.08
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chassis_z0 = wheel_radius
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wheel_x0 = chassis_dx*0.5
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wheel_y0 = chassis_dy*0.5 + wheel_width*0.6
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steer_limit = 35 * Math::PI / 180.0
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caster_angle = 5 * Math::PI / 180.0
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front_wheel_locations = {
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"front_left" => {:x0 => wheel_x0, :y0 => wheel_y0 },
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"front_right" => {:x0 => wheel_x0, :y0 => -wheel_y0 },
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}
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rear_wheel_locations = {
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"rear_left" => {:x0 => -wheel_x0, :y0 => wheel_y0 },
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"rear_right" => {:x0 => -wheel_x0, :y0 => -wheel_y0 },
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}
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# inertia
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chassis_mass = 10
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chassis_ixx = chassis_mass/12.0 * (chassis_dy**2 + chassis_dz**2)
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chassis_iyy = chassis_mass/12.0 * (chassis_dz**2 + chassis_dx**2)
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chassis_izz = chassis_mass/12.0 * (chassis_dx**2 + chassis_dy**2)
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# chassis c.g. offset from center of box
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chassis_cgx = chassis_dx*0.1
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chassis_cgy = 0
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chassis_cgz = 0
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wheel_mass = 0.5
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wheel_ixx = wheel_mass * (wheel_radius**2 / 4.0 + wheel_width**2 / 12.0)
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wheel_iyy = wheel_mass * (wheel_radius**2 / 4.0 + wheel_width**2 / 12.0)
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wheel_izz = wheel_mass/2.0 * wheel_radius**2
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%>
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<sdf version="1.5">
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<model name="cart_front_steer">
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<link name="chassis">
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<pose>0 0 <%= chassis_z0 %> 0 0 0</pose>
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<inertial>
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<pose><%= chassis_cgx %> <%= chassis_cgy %> <%= chassis_cgz %> 0 0 0</pose>
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<mass><%= chassis_mass %></mass>
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<inertia>
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<ixx><%= chassis_ixx %></ixx>
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<iyy><%= chassis_iyy %></iyy>
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<izz><%= chassis_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size><%= chassis_dx %> <%= chassis_dy %> <%= chassis_dz %></size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size><%= chassis_dx %> <%= chassis_dy %> <%= chassis_dz %></size>
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</box>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Grey</name>
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</script>
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</material>
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</visual>
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</link>
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<%
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front_wheel_locations.keys.each do |k|
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x0 = front_wheel_locations[k][:x0]
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y0 = front_wheel_locations[k][:y0]
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%>
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<%= "<link name=" + '"wheel_' + k + '">' %>
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<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> <%= -Math::PI/2 %> <%= -caster_angle %> 0</pose>
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<inertial>
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<mass><%= wheel_mass %></mass>
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<inertia>
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<ixx><%= wheel_ixx %></ixx>
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<iyy><%= wheel_iyy %></iyy>
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<izz><%= wheel_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius><%= wheel_radius %></radius>
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<length><%= wheel_width %></length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius><%= wheel_radius %></radius>
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<length><%= wheel_width %></length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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</link>
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<%
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# Steering and wheel spin implemented as universal joint
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# First axis is steering, has limits
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# Second axis is spin
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# Steering axis is inclinded by caster_angle, which is implemented
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# by inclining the wheel link frame (see wheel link pose element)
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%>
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<%= "<joint name=" + '"wheel_' + k + '_steer_spin" type="universal">' %>
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<parent>chassis</parent>
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<%= "<child>wheel_" + k + "</child>" %>
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<axis>
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<xyz>0 -1 0</xyz>
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<limit>
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<lower><%= -steer_limit %></lower>
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<upper><%= steer_limit %></upper>
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</limit>
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</axis>
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<axis2>
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<xyz>0 0 1</xyz>
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</axis2>
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</joint>
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<% end %>
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<%
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rear_wheel_locations.keys.each do |k|
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x0 = rear_wheel_locations[k][:x0]
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y0 = rear_wheel_locations[k][:y0]
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%>
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<%= "<link name=" + '"wheel_' + k + '">' %>
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<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> <%= -Math::PI/2 %> 0 0</pose>
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<inertial>
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<mass><%= wheel_mass %></mass>
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<inertia>
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<ixx><%= wheel_ixx %></ixx>
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<iyy><%= wheel_iyy %></iyy>
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<izz><%= wheel_izz %></izz>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyz>0</iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<cylinder>
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<radius><%= wheel_radius %></radius>
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<length><%= wheel_width %></length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius><%= wheel_radius %></radius>
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<length><%= wheel_width %></length>
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</cylinder>
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</geometry>
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/Black</name>
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</script>
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</material>
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</visual>
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</link>
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<%= "<joint name=" + '"wheel_' + k + '_spin" type="revolute">' %>
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<parent>chassis</parent>
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<%= "<child>wheel_" + k + "</child>" %>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<% end %>
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</model>
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</sdf>
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