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Quella777
198
cart_soft_suspension/model.rsdf
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198
cart_soft_suspension/model.rsdf
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<?xml version="1.0" ?>
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<%
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# Vehicle with soft suspension
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# Consists of box chassis with 4 non-steerable wheels,
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# connected by prismatic joints to an intermediate body
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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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susp_dx = 0.05
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susp_dy = susp_dx
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susp_dz = susp_dx
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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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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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"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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# intermediate body (non-spinning unsprung inertia)
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susp_mass = 0.5
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susp_ixx = susp_mass/12.0 * (susp_dy**2 + susp_dz**2)
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susp_iyy = susp_mass/12.0 * (susp_dz**2 + susp_dx**2)
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susp_izz = susp_mass/12.0 * (susp_dx**2 + susp_dy**2)
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# wheel inertia
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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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# suspension stiffness, damping, and limits
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susp_travel = 0.5 * wheel_radius
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susp_height = 0.5
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susp_lower = -susp_height * susp_travel
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susp_upper = susp_lower + susp_travel
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susp_damping = 100
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susp_stiffness = 2500
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susp_spring_center = 0.05
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%>
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<sdf version="1.5">
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<model name="cart_soft_suspension">
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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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wheel_locations.keys.each do |k|
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x0 = wheel_locations[k][:x0]
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y0 = wheel_locations[k][:y0]
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%>
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<%= "<link name=" + '"susp_' + k + '">' %>
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<pose><%= x0 %> <%= y0 %> <%= wheel_radius %> 0 0 0</pose>
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<inertial>
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<mass><%= susp_mass %></mass>
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<inertia>
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<ixx><%= susp_ixx %></ixx>
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<iyy><%= susp_iyy %></iyy>
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<izz><%= susp_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><%= susp_dx %> <%= susp_dy %> <%= susp_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><%= susp_dx %> <%= susp_dy %> <%= susp_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/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=" + '"susp_' + k + '_prismatic" type="prismatic">' %>
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<parent>chassis</parent>
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<%= "<child>susp_" + k + "</child>" %>
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<axis>
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<xyz>0 0 -1</xyz>
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<limit>
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<lower><%= susp_lower %></lower>
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<upper><%= susp_upper %></upper>
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</limit>
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<dynamics>
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<damping><%= susp_damping %></damping>
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<spring_stiffness><%= susp_stiffness %></spring_stiffness>
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<spring_reference><%= susp_spring_center %></spring_reference>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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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>susp_" + k + "</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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