2016-07-17 06:14:16 +00:00
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from ../urdf/husky.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--
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Software License Agreement (BSD)
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\file husky.urdf.xacro
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\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
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\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that
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the following conditions are met:
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* Redistributions of source code must retain the above copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other materials provided with the distribution.
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* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
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products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
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RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
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DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
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OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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-->
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<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<!-- Included URDF/XACRO Files -->
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<material name="Black">
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<color rgba="0.1 0.1 0.1 1.0"/>
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</material>
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<material name="Blue">
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<color rgba="0.0 0.0 0.8 1.0"/>
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</material>
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<material name="Green">
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<color rgba="0.0 0.8 0.0 1.0"/>
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</material>
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<material name="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="DarkGrey">
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<color rgba="0.3 0.3 0.3 1.0"/>
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</material>
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<material name="Red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<material name="Yellow">
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<color rgba="0.8 0.8 0.0 1.0"/>
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</material>
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<!-- Base Size -->
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<!-- Wheel Mounting Positions -->
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<!-- Wheel Properties -->
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<!-- Base link is on the ground under the robot -->
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<link name="base_footprint"/>
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<gazebo reference="base_footprint">
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<material>Gazebo/DarkGrey</material>
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</gazebo>
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<joint name="chassis_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.14493"/>
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<parent link="base_footprint"/>
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<child link="base_link"/>
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</joint>
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<!-- Chassis link is the center of the robot's bottom plate -->
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<link name="base_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/base_link.stl"/>
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</geometry>
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<material name="Black"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.12498"/>
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<geometry>
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<!-- Make collision box slightly bigger in x and z directions. -->
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<box size="1.0074 0.5709 0.2675"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="33.455"/>
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<origin xyz="-0.08748 -0.00085 0.09947"/>
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<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
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</inertial>
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</link>
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<gazebo reference="base_link">
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</gazebo>
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<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
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<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
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<link name="imu_link"/>
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<joint name="imu_joint" type="fixed">
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<origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
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<parent link="base_link"/>
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<child link="imu_link"/>
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</joint>
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<gazebo reference="imu_link">
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</gazebo>
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<!-- Husky wheel macros -->
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<link name="front_left_wheel_link">
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2016-09-03 15:39:40 +00:00
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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2016-07-17 06:14:16 +00:00
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/wheel.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.1143" radius="0.17775"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="front_left_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0"/>
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<kd value="1.0"/>
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<fdir1 value="1 0 0"/>
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<material>Gazebo/Grey</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<joint name="front_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<transmission name="front_left_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="front_left_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="front_left_wheel">
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<hardwareInterface>VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<link name="front_right_wheel_link">
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2016-09-03 15:39:40 +00:00
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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2016-07-17 06:14:16 +00:00
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/wheel.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.1143" radius="0.17775"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="front_right_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0"/>
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<kd value="1.0"/>
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<fdir1 value="1 0 0"/>
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<material>Gazebo/Grey</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<joint name="front_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="front_right_wheel_link"/>
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<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<transmission name="front_right_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="front_right_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="front_right_wheel">
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<hardwareInterface>VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<link name="rear_left_wheel_link">
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2016-09-03 15:39:40 +00:00
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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2016-07-17 06:14:16 +00:00
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/wheel.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.1143" radius="0.17775"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="rear_left_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0"/>
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<kd value="1.0"/>
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<fdir1 value="1 0 0"/>
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<material>Gazebo/Grey</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<joint name="rear_left_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_left_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
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<type>transmission_interface/SimpleTransmission</type>
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<actuator name="rear_left_wheel_motor">
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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<joint name="rear_left_wheel">
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<hardwareInterface>VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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<link name="rear_right_wheel_link">
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2016-09-03 15:39:40 +00:00
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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2016-07-17 06:14:16 +00:00
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes/wheel.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0 0"/>
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<geometry>
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<cylinder length="0.1143" radius="0.17775"/>
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</geometry>
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</collision>
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</link>
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<gazebo reference="rear_right_wheel_link">
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<mu1 value="1.0"/>
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<mu2 value="1.0"/>
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<kp value="10000000.0"/>
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<kd value="1.0"/>
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<fdir1 value="1 0 0"/>
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<material>Gazebo/Grey</material>
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<turnGravityOff>false</turnGravityOff>
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</gazebo>
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<joint name="rear_right_wheel" type="continuous">
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<parent link="base_link"/>
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<child link="rear_right_wheel_link"/>
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<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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|
|
|
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
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|
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<type>transmission_interface/SimpleTransmission</type>
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|
|
|
|
<actuator name="rear_right_wheel_motor">
|
|
|
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|
<mechanicalReduction>1</mechanicalReduction>
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|
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</actuator>
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|
|
|
|
<joint name="rear_right_wheel">
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|
|
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|
<hardwareInterface>VelocityJointInterface</hardwareInterface>
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</joint>
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</transmission>
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|
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<link name="top_plate_link">
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|
|
|
<visual>
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|
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<origin rpy="0 0 0" xyz="0 0 0"/>
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|
|
<geometry>
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|
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<mesh filename="meshes/top_plate.stl"/>
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</geometry>
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<material name="Yellow"/>
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|
|
|
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</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="top_plate" type="fixed">
|
|
|
|
|
<parent link="base_link"/>
|
|
|
|
|
<child link="top_plate_link"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<gazebo reference="top_plate_link">
|
|
|
|
|
<material>Gazebo/Yellow</material>
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|
|
|
|
</gazebo>
|
|
|
|
|
<link name="user_rail_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="meshes/user_rail.stl"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="DarkGrey"/>
|
|
|
|
|
</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="user_rail" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.272 0 0.245"/>
|
|
|
|
|
<parent link="base_link"/>
|
|
|
|
|
<child link="user_rail_link"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<gazebo reference="user_rail_link">
|
|
|
|
|
<material>Gazebo/DarkGrey</material>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<link name="front_bumper_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="meshes/bumper.stl"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="DarkGrey"/>
|
|
|
|
|
</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="front_bumper" type="fixed">
|
|
|
|
|
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
|
|
|
|
|
<parent link="base_link"/>
|
|
|
|
|
<child link="front_bumper_link"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<gazebo reference="front_bumper_link">
|
|
|
|
|
<material>Gazebo/DarkGrey</material>
|
|
|
|
|
</gazebo>
|
|
|
|
|
<link name="rear_bumper_link">
|
|
|
|
|
<visual>
|
|
|
|
|
<geometry>
|
|
|
|
|
<mesh filename="meshes/bumper.stl"/>
|
|
|
|
|
</geometry>
|
|
|
|
|
<material name="DarkGrey"/>
|
|
|
|
|
</visual>
|
|
|
|
|
</link>
|
|
|
|
|
<joint name="rear_bumper" type="fixed">
|
|
|
|
|
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
|
|
|
|
|
<parent link="base_link"/>
|
|
|
|
|
<child link="rear_bumper_link"/>
|
|
|
|
|
</joint>
|
|
|
|
|
<gazebo reference="rear_bumper_link">
|
|
|
|
|
<material>Gazebo/DarkGrey</material>
|
|
|
|
|
</gazebo>
|
|
|
|
|
</robot>
|
|
|
|
|
|
