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Commit 8f1dc0ff authored by Galambos Mihály's avatar Galambos Mihály
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Finishing up model parameters

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src/hollander_description/src/description/rollende_hollander.urdf
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View file @ 8f1dc0ff
......@@ -3,61 +3,64 @@
<!-- TODO
[x] Add metadata for simulation
[] Measure exact values on robot
[] Extract caster wheel parameters
[] Maybe all property should be a positive number
[] Move base_link to the rotation center - to do this move visual and collision origin
[X] Measure exact values on robot
[?] Extract caster wheel parameters
[X] Maybe all property should be a positive number
[X] Move base_link to the rotation center - to do this move visual and collision origin
-->
<!-- * CONSTANTS * -->
<!-- Base -->
<xacro:property name="base_width" value="0.31" />
<xacro:property name="base_length" value="0.42" />
<xacro:property name="base_height" value="0.18" />
<xacro:property name="base_mass" value="15" />
<!-- Base link -->
<xacro:property name="base_x_off" value="0.1135" /> <!-- 11,35 cm-->
<xacro:property name="base_z_off" value="0.043" /> <!-- 4,3 cm -->
<!-- Robot base -->
<xacro:property name="base_width" value="0.43" /> <!-- 43 cm -->
<xacro:property name="base_length" value="0.507" /> <!-- 50,7 cm -->
<xacro:property name="base_height" value="0.25" /> <!-- 25 cm -->
<!-- Backpack frame -->
<xacro:property name="frame_diameter" value="0.03" />
<xacro:property name="frame_base_x_off" value="-0.25" />
<xacro:property name="frame_base_z_off" value="-0.05" />
<xacro:property name="frame_height" value="1" />
<xacro:property name="frame_diameter" value="0.03" /> <!-- 3 cm -->
<xacro:property name="frame_base_x_gap" value="0.10" /> <!-- 10 cm -->
<xacro:property name="frame_base_z_off" value="0.11" /> <!-- 11 cm-->
<xacro:property name="frame_height" value="1.835" /> <!-- 183,5 -->
<xacro:property name="frame_width" value="${base_width + 2*frame_diameter}" />
<xacro:property name="frame_bottom_zoff" value="0.03" />
<xacro:property name="horizontal_frame_mass" value="0.03" />
<xacro:property name="vertical_frame_mass" value="0.03" />
<xacro:property name="frame_bottom_zoff" value="0.21" /> <!-- 21 cm -->
<!-- Front frame -->
<xacro:property name="caster_frame_diameter" value="0.03" />
<xacro:property name="caster_frame_x_gap" value="0.15" />
<xacro:property name="caster_frame_width" value="${base_width}" />
<xacro:property name="caster_frame_z_off" value="0.03" />
<xacro:property name="caster_frame_parallel_mass" value="0.03" />
<xacro:property name="caster_frame_cross_mass" value="0.03" />
<xacro:property name="caster_frame_diameter" value="0.03" /> <!-- 3 cm -->
<xacro:property name="caster_frame_x_gap" value="0.10" /> <!-- 10 cm -->
<xacro:property name="caster_frame_width" value="0.53" /> <!-- 53 cm -->
<xacro:property name="caster_frame_z_off" value="0.114" /> <!-- 11,4 cm -->
<!-- Drive wheels -->
<xacro:property name="wheel_radius" value="0.10" />
<xacro:property name="wheel_width" value="0.04" />
<xacro:property name="wheel_y_gap" value="0.025" />
<xacro:property name="wheel_z_off" value="-0.05" />
<xacro:property name="wheel_x_off" value="0.12" />
<xacro:property name="wheel_mass" value="0.5" />
<!-- Drive wheel -->
<xacro:property name="wheel_radius" value="0.1725" /> <!-- 17,25 cm -->
<xacro:property name="wheel_width" value="0.08" /> <!-- 8 cm -->
<xacro:property name="wheel_y_gap" value="0.028" /> <!-- 2,8 cm -->
<!-- Caster wheels -->
<xacro:property name="caster_xgap" value="0.04" />
<xacro:property name="caster_ygap" value="0.01" />
<xacro:property name="caster_mass" value="0.5" />
<!-- Caster whhel -->
<xacro:property name="caster_base_z_off" value="0.03" /> <!-- 3 cm-->
<!-- Cameras -->
<xacro:property name="front_camera_name" value="camera_1571" />
<xacro:property name="front_camera_angle" value="0" />
<xacro:property name="front_camera_gap" value="0.022128" />
<xacro:property name="front_camera_gap" value="0.016" /> <!-- 1,6 cm-->
<xacro:property name="back_camera_name" value="camera_1502" />
<xacro:property name="back_camera_angle" value="45" />
<xacro:property name="back_camera_gap" value="0.022128" />
<xacro:property name="back_camera_angle" value="0" />
<xacro:property name="back_camera_gap" value="0.015" /> <!-- 1,6 cm-->
<!-- TODO - Mass -->
<xacro:property name="base_mass" value="15" />
<xacro:property name="vertical_frame_mass" value="0.03" />
<xacro:property name="horizontal_frame_mass" value="0.03" />
<xacro:property name="caster_frame_parallel_mass" value="0.03" />
<xacro:property name="caster_frame_cross_mass" value="0.03" />
<xacro:property name="caster_mass" value="0.5" />
<xacro:property name="wheel_mass" value="0.5" />
<!-- * MACROS * -->
<!-- Wheels -->
<xacro:macro name="wheel" params="name x_reflect y_reflect">
<xacro:macro name="wheel" params="name y_reflect">
<link name="${name}_link">
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
......@@ -81,7 +84,7 @@
<joint name="${name}_joint" type="continuous">
<parent link="base_link" />
<child link="${name}_link" />
<origin xyz="${x_reflect*wheel_x_off} ${y_reflect*(base_width/2+wheel_y_gap)} ${wheel_z_off}" rpy="0 0 0" />
<origin xyz="0.0 ${y_reflect*(base_width/2+wheel_y_gap)} 0" rpy="0 0 0" />
<axis xyz="0 1 0" />
</joint>
</xacro:macro>
......@@ -91,7 +94,7 @@
<link name="${name}_link">
<visual>
<geometry>
<sphere radius="${(wheel_radius-wheel_z_off+caster_frame_z_off-caster_frame_diameter/2)/2}" />
<sphere radius="${(wheel_radius+base_z_off+caster_frame_z_off-caster_frame_diameter/2)/2-caster_base_z_off}" />
</geometry>
<material name="Gray">
<color rgba="0.5 0.5 0.5 1.0" />
......@@ -100,17 +103,17 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="${(wheel_radius-wheel_z_off+caster_frame_z_off-caster_frame_diameter/2)/2}" />
<sphere radius="${(wheel_radius+base_z_off+caster_frame_z_off-caster_frame_diameter/2)/2-caster_base_z_off}" />
</geometry>
</collision>
<xacro:sphere_inertia m="${caster_mass}" r="${(wheel_radius-wheel_z_off+caster_frame_z_off-caster_frame_diameter/2)/2}" />
<xacro:sphere_inertia m="${caster_mass}" r="${(wheel_radius+base_z_off+caster_frame_z_off-caster_frame_diameter/2)/2-caster_base_z_off}" />
</link>
<joint name="${name}_joint" type="fixed">
<parent link="caster_frame_cross_link" />
<child link="${name}_link" />
<origin xyz="0.0 ${y_reflect*(caster_frame_width/2)} ${-((wheel_radius-wheel_z_off+caster_frame_z_off+caster_frame_diameter/2)/2)}" rpy="0 0 0" />
<origin xyz="${caster_frame_diameter} ${y_reflect*(caster_frame_width/2)} ${-((wheel_radius+base_z_off+caster_frame_z_off+caster_frame_diameter/2)/2)}" rpy="0 0 0" />
</joint>
</xacro:macro>
......@@ -203,12 +206,12 @@
<link name="base_link" />
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="robot_link"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<parent link="base_link" />
<child link="robot_base_link" />
<origin xyz="${base_x_off} 0.0 ${base_z_off}" rpy="0.0 0.0 0.0" />
</joint>
<link name="robot_link">
<link name="robot_base_link">
<visual>
<geometry>
<box size="${base_length} ${base_width} ${base_height}" />
......@@ -230,14 +233,14 @@
<link name="base_footprint" />
<joint name="footprint_joint" type="fixed">
<parent link="base_link" />
<parent link="robot_base_link" />
<child link="base_footprint" />
<origin xyz="0.0 0.0 ${-(wheel_radius-wheel_z_off)}" rpy="0 0 0" />
<origin xyz="0.0 0.0 ${-(wheel_radius+base_z_off)}" rpy="0 0 0" />
</joint>
<!-- Drive wheels -->
<xacro:wheel name="left_drive_wheel" x_reflect="-1" y_reflect="1" />
<xacro:wheel name="right_drive_wheel" x_reflect="-1" y_reflect="-1" />
<xacro:wheel name="left_drive_wheel" y_reflect="1" />
<xacro:wheel name="right_drive_wheel" y_reflect="-1" />
<!-- Caster wheels -->
<xacro:caster_wheel name="left_caster" y_reflect="1" />
......@@ -246,9 +249,9 @@
<!-- Backpack frame -->
<link name="frame_base_link" />
<joint name="frame_base_joint" type="fixed">
<parent link="base_link" />
<parent link="robot_base_link" />
<child link="frame_base_link" />
<origin xyz="${frame_base_x_off} 0.0 ${frame_base_z_off}" />
<origin xyz="${-(base_length/2 + frame_base_x_gap)} 0.0 ${-frame_base_z_off}" />
</joint>
<xacro:frame_horizontal name="frame_bottom" z_off="${frame_bottom_zoff}" />
......@@ -280,7 +283,7 @@
<joint name="caster_frame_parallel_joint" type="fixed">
<origin xyz="${base_length/2} 0.0 ${caster_frame_z_off} " rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<parent link="robot_base_link" />
<child link="caster_frame_parallel_link" />
</joint>
......@@ -340,6 +343,34 @@
</xacro:sensor_d435i>
<!-- * GAZEBO * -->
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/demo</namespace>
</ros>
<!-- wheels -->
<left_joint>left_drive_wheel_joint</left_joint>
<right_joint>right_drive_wheel_joint</right_joint>
<!-- kinematics -->
<wheel_separation>${base_width + 2*wheel_y_gap}</wheel_separation>
<wheel_diameter>${2*wheel_radius}</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>false</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
<gazebo reference="${back_camera_name}_gyro_frame">
<sensor name="imu_sensor" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
......@@ -408,32 +439,4 @@
</imu>
</sensor>
</gazebo>
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/demo</namespace>
</ros>
<!-- wheels -->
<left_joint>left_drive_wheel_joint</left_joint>
<right_joint>right_drive_wheel_joint</right_joint>
<!-- kinematics -->
<wheel_separation>${base_width + 2*wheel_y_gap}</wheel_separation>
<wheel_diameter>${2*wheel_radius}</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>false</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
</gazebo>
</robot>
\ No newline at end of file
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