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add laser sensor

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joyHuang 2025-12-10 02:44:00 +09:00
parent ffe453d26b
commit 764c1d9d44
Signed by: joy
GPG Key ID: FFD99A1CA77D33C8
1 changed files with 66 additions and 6 deletions
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72
myrobot_pkg/marcos/robot.xacro
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@ -210,11 +210,71 @@
<!-- imu -->
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin xyz="0.0 0 0" rpy="0 0 0"/>
</joint>
<link name="imu_link"/>
<!-- laser scanner base link-->
<link name="laser_scanner_base_link">
<visual>
<geometry>
<cylinder length="${laser_scanner_base_link_height*0.5}"/>
</geometry>
<origin xyz="0 0 ${laser_scanner_base_link_height*0.5}"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="${laser_scanner_base_link_height*0.5}"/>
</geometry>
<origin xyz="0 0 ${laser_scanner_base_link_height*0.5}"/>
</collision>
<xacro:cylinder_inertial mass="${laser_scanner_base_link_mass}"/>
</link>
<joint name="base_link_to_laser_scanner_base_link" type="fixed">
<parent link="base_link"/>
<child link="laser_scanner_base_link"/>
<origin xyz="0 0 ${base_link*0.5}"/>
</joint>
<gazebo reference="laser_scanner_base_link">
<material>Gazebo/Blue</material>
</gazebo>
<!-- laser scanner -->
<link name="base_scan">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot_3description/meshes/sensor/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="scan_joint" type="fixed">
<parent link="laser scanner_base_link"/>
<child link="base_scan"/>
<origin xyz="0 0 0.07" rpy="0 0 0"/>
</joint>
<gazebo reference="base_scan">
<material>Gazebo/Black</material>
</gazebo>
</robot>