fix: fix by gemini
This commit is contained in:
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4c1356ea0d
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GPG Key ID:
FFD99A1CA77D33C8
@ -1,6 +1,7 @@
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<?xml version="1.0" ?>
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<robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="laser_visual" default="false"/>
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="base_link_l" value="0.4" />
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@ -17,25 +18,24 @@
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<xacro:property name="laser_scanner_base_link_mass" value="0.5" />
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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<color rgba="0 0 0 1"/>
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</material>
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<material name="white">
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<color rgba="1 1 1 1"/>
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<color rgba="1 1 1 1"/>
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</material>
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<material name="orange">
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<color rgba="1 0.65 0 1"/>
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<color rgba="1 0.65 0 1"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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<color rgba="1 0 0 1"/>
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</material>
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<material name="green">
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<color rgba="0 1 0 1"/>
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<color rgba="0 1 0 1"/>
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</material>
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<gazebo reference="left_wheel">
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<mu1>0.1000</mu1>
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<mu2>0.1000</mu2>
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@ -55,7 +55,6 @@
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<maxVel>0.1</maxVel>
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<fdir1>1 0 0</fdir1>
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</gazebo>
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<gazebo reference="left_caster">
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<mu1>0.0</mu1>
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@ -106,7 +105,6 @@
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</plugin>
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</gazebo>
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<gazebo reference="base_scan">
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<material>Gazebo/FlatBlack</material>
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<sensor type="ray" name="lds_lfcd_sensor">
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@ -133,14 +131,13 @@
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_kaser.so">
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<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
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<topicName>scan</topicName>
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<frameName>base_scan</frameName>
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</plugin>
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</sensor>
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</gazebo>
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<gazebo>
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<plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
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<commandTopic>cmd_vel</commandTopic>
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@ -151,272 +148,140 @@
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<robotBaseFrame>base_footprint</robotBaseFrame>
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<publishWheelTF>false</publishWheelTF>
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<publishTf>true</publishTf>
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<publishWheelJointState>true</publish WheelJointState>
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<publishWheelJointState>true</publishWheelJointState>
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<legacyMode>false</legacyMode>
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<updateRate>30</updateRate>
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<leftJoint>wheel_left_joint</leftJoint>
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<rightJoint>wheel_right_joint</rightJoint>
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<wheelSeparation>0.45</wheel Separation>
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<wheelDiameter>0.1</wheel Diameter>
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<wheelSeparation>0.45</wheelSeparation>
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<wheelDiameter>0.1</wheelDiameter>
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<wheelAcceleration>1</wheelAcceleration>
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<wheelTorque>10</wheelTorque>
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<rosDebugLevel>na</rosDebugLevel>
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</plugin>
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</gazebo>
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<xacro:macro name="cube_inertial" params="mass">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="cube_inertial" params="mass">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="cylinder_inertial" params="mass">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
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iyy="0.0001" iyz="0.0"
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izz="0.0001" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="cylinder_inertial" params="mass">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
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iyy="0.0001" iyz="0.0"
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izz="0.0001" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="sphere_inertial" params="mass">
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<inertial>
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<mass value="${mass}" />
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<inertia ixx="1.2e-05" ixy="0.0" ixz="0.0"
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iyy="1.2e-05" iyz="0.0"
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izz="1.2e-05" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="sphere_inertial" params="mass">
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<inertial>
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<mass value="${mass}" />
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<inertia ixx="1.2e-05" ixy="0.0" ixz="0.0"
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iyy="1.2e-05" iyz="0.0"
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izz="1.2e-05" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="wheel" params="prefix reflect material">
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<link name="${prefix}_wheel">
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<visual>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<material name="${material}"/>
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<origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
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<material name="red"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
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</collision>
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<xacro:cylinder_inertial mass="${wheel_mass}" ixx="0.0001" iyy="0.001" izz="0.0001"/>
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</link>
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<xacro:macro name="rigid_inertial" params="mass ixx iyy izz">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="${ixx}" ixy="0.0" ixz="0.0"
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iyy="${iyy}" iyz="0.0"
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izz="${izz}"/>
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</inertial>
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</xacro:macro>
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<gazebo reference="${prefix}_wheel">
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<material>Gazebo/${material}</material>
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</gazebo>
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<xacro:macro name="wheel" params="prefix reflect material">
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<link name="${prefix}_wheel">
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<visual>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<material name="${material}"/>
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<origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
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</collision>
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<xacro:cylinder_inertial mass="${wheel_mass}"/>
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</link>
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<joint name="wheel_${prefix}_joint" type="continuous">
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<parent link="base_link"/>
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<child link="${prefix}_wheel"/>
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<origin xyz="${base_link_w*0.25} ${reflect*base_link*0.5} -${base_link_h*0.25}"/>
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<axis xyz="0 1 0"/>
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</joint>
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</xacro:macro>
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<gazebo reference="${prefix}_wheel">
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<material>Gazebo/${material}</material>
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</gazebo>
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<xacro:macro name="caster" params="prefix reflect material">
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<link name="${prefix}_caster">
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<visual>
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<geometry>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="${material}"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="${material}"/>
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</collision>
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<xacro:sphere_inertial mass="${caster_mass}"/>
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</link>
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<gazebo reference="${prefix}_caster">
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<material>
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Gazebo/${material}
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</material>
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</gazebo>
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<joint name="base_to_${prefix}_caster" type="fixed">
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<parent link="base_link"/>
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<child link="${prefix}_caster"/>
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<origin xyz="-${base_link_w*0.33} ${reflect*base_link_l*0.25} -${base_link_h*0.5}"/>
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</joint>
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</xacro:macro>
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<xacro:macro name="rigid_inertial" params="mass ixx iyy izz">
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<inertial>
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<mass value="${mass}"/>
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<inertia ixx="${ixx}" ixy="0.0" ixz="0.0"
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iyy="${iyy}" iyz="0.0"
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izz="${izz}"/>
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</inertial>
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</xacro:macro>
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<link name="base_footprint"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<origin xyz="0 0 0.050" rpy="0 0 0"/>
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<joint name="wheel_${prefix}_joint" type="continuous">
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<parent link="base_link"/>
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<child link="${prefix}_wheel"/>
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<origin xyz="${base_link_w*0.25} ${reflect*base_link_w*0.5} -${base_link_h*0.25}"/>
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<axis xyz="0 1 0"/>
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</joint>
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</xacro:macro>
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<link name="base_link">
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<visual>
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<geometry>
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<box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
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</geometry>
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<material name="orange"/>
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</visual>
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<collision>
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<geometry>
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<box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
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</geometry>
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</collision>
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<!-- <inertial>
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<mass value="${base_link_mass}"/>
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<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041"/>
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</inertial> -->
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<!-- TODO: -->
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<xacro:rigid_inertial mass="${base_link_mass}" ixx="0.01" iyy="0.02" izz="0.041"/>
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</link>
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<gazebo reference="base_link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<xacro:wheel prefix="right" reflect="-1" material="Red"/>
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<xacro:wheel prefix="left" reflect="1" material="Green"/>
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<!-- <link name="right_wheel">
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<visual>
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<xacro:macro name="caster" params="prefix reflect material">
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<link name="${prefix}_caster">
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<visual>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<material name="red"/>
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<origin rpy="1.57075 0 0" xyz="0 -0.025 0"/>
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<material name="red"/>
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</visual>
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<collision>
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<origin xyz="0 0 0"/>
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<material name="${material}"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<origin rpy="1.57075 0 0" xyz="0 -0.025 0"/>
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</collision>
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<xacro:cylinder_inertial mass="${wheel_mass}"/>
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<origin xyz="0 0 0"/>
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</collision>
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<xacro:sphere_inertial mass="${caster_mass}"/>
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</link>
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<gazebo reference="right_wheel">
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<material>Gazebo/Red</material>
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<gazebo reference="${prefix}_caster">
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<material>Gazebo/${material}</material>
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</gazebo>
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<joint name="base_to_${prefix}_caster" type="fixed">
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<parent link="base_link"/>
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<child link="${prefix}_caster"/>
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<origin xyz="-${base_link_w*0.33} ${reflect*base_link_l*0.25} -${base_link_h*0.5}"/>
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</joint>
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</xacro:macro>
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<joint name="wheel_right_joint" type="continuous">
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<parent link="base_link"/>
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<child link="right_wheel"/>
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<origin xyz="0.0 -0.2 -0.025"/>
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<axis xyz="0 1 0"/>
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</joint> -->
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<link name="base_footprint"/>
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<joint name="base_joint" type="fixed">
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<parent link="base_footprint"/>
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<child link="base_link"/>
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<origin xyz="0 0 0.050" rpy="0 0 0"/>
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</joint>
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<!-- <link name="left_wheel">
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<visual>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<material name="green"/>
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<origin rpy="1.57075 0 0" xyz="0 0.025 0"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<origin rpy="1.57075 0 0" xyz="0 0.025 0"/>
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</collision>
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<xacro:cylinder_inertial mass="${wheel_mass}"/>
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</link>
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<gazebo reference="left_wheel">
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<material>Gazebo/Green</material>
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</gazebo>
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<joint name="wheel_left_joint" type="continuous">
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<parent link="base_link"/>
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<child link="left_wheel"/>
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<origin xyz="0.0 0.2 -0.025"/>
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<axis xyz="0 1 0"/>
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</joint> -->
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<xacro:caster prefix="right" reflect="1" material="Gray"/>
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<xacro:caster prefix="left" reflect="-1" material="Gray"/>
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<!--
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<link name="right_caster">
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<link name="base_link">
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<visual>
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<geometry>
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<sphere radius="${caster_radius}"/>
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<box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="white"/>
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<material name="orange"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_radius}"/>
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<box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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</collision>
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<xacro:sphere_inertial mass="${caster_mass}"/>
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<xacro:rigid_inertial mass="${base_link_mass}" ixx="0.01" iyy="0.02" izz="0.041"/>
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</link>
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<gazebo reference="right_caster">
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<material>Gazebo/Gray</material>
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<gazebo reference="base_link">
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<material>Gazebo/Orange</material>
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</gazebo>
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<joint name="base_to_right_caster" type="fixed">
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<parent link="base_link"/>
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<child link="right_caster"/>
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<origin xyz="${base_link_w*0.33} ${base_link_l*0.0} -${base_link_h*0.5}"/>
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</joint> -->
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<!--
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<link name="left_caster">
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<visual>
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<geometry>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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<material name="gray"/>
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</visual>
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<collision>
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<geometry>
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<sphere radius="${caster_radius}"/>
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</geometry>
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<origin xyz="0 0 0"/>
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</collision>
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<xacro:sphere_inertial mass="${caster_mass}"/>
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</link>
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<gazebo reference="left_caster">
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<material>Gazebo/Gray</material>
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</gazebo>
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<joint name="base_to_left_caster" type="fixed">
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<parent link="base_link"/>
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<child link="left_caster"/>
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<origin xyz="-${base_link_w*0.33} -${base_link_l*0} -${base_link_h*0.5}"/>
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</joint> -->
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<!-- imu -->
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<xacro:wheel prefix="right" reflect="-1" material="red"/>
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<xacro:wheel prefix="left" reflect="1" material="green"/>
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<xacro:caster prefix="right" reflect="1" material="white"/>
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<xacro:caster prefix="left" reflect="-1" material="white"/>
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<joint name="imu_joint" type="fixed">
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<parent link="base_link"/>
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@ -425,7 +290,6 @@
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</joint>
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<link name="imu_link"/>
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||||
<!-- laser scanner base link-->
|
||||
<link name="laser_scanner_base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
@ -442,21 +306,22 @@
|
||||
</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_h*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"/>
|
||||
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
@ -472,17 +337,19 @@
|
||||
<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" />
|
||||
iyy="0.001" iyz="0.0"
|
||||
izz="0.001" />
|
||||
</inertial>
|
||||
</link>
|
||||
</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>
|
||||
<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>
|
||||
Loading…
x
Reference in New Issue
Block a user