From dcdde583eebbc5958a6eb210f0ba6ae1aa972be1 Mon Sep 17 00:00:00 2001
From: joyHuang <joy224961632@gmail.com>
Date: Wed, 10 Dec 2025 15:25:10 +0900
Subject: [PATCH] fix: fix by gemini

---
 myrobot_pkg/marcos/robot.xacro | 377 +++++++++++----------------------
 1 file changed, 122 insertions(+), 255 deletions(-)

diff --git a/myrobot_pkg/marcos/robot.xacro b/myrobot_pkg/marcos/robot.xacro
index 0b6f231..70f37bf 100644
--- a/myrobot_pkg/marcos/robot.xacro
+++ b/myrobot_pkg/marcos/robot.xacro
@@ -1,6 +1,7 @@
 <?xml version="1.0" ?>
 <robot name="myrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  
+
+  <xacro:arg name="laser_visual" default="false"/>
 
   <xacro:property name="PI" value="3.1415926535897931"/>
   <xacro:property name="base_link_l" value="0.4" />
@@ -17,25 +18,24 @@
   <xacro:property name="laser_scanner_base_link_mass" value="0.5" />
 
   <material name="blue">
-  <color rgba="0 0 0.8 1"/>
+    <color rgba="0 0 0.8 1"/>
   </material>
   <material name="black">
-  <color rgba="0 0 0 1"/>
+    <color rgba="0 0 0 1"/>
   </material>
   <material name="white">
-  <color rgba="1 1 1 1"/>
+    <color rgba="1 1 1 1"/>
   </material>
   <material name="orange">
-  <color rgba="1 0.65 0 1"/>
+    <color rgba="1 0.65 0 1"/>
   </material>
   <material name="red">
-  <color rgba="1 0 0 1"/>
+    <color rgba="1 0 0 1"/>
   </material>
   <material name="green">
-  <color rgba="0 1 0 1"/>
+    <color rgba="0 1 0 1"/>
   </material>
 
-
   <gazebo reference="left_wheel">
     <mu1>0.1000</mu1>
     <mu2>0.1000</mu2>
@@ -55,7 +55,6 @@
     <maxVel>0.1</maxVel>
     <fdir1>1 0 0</fdir1>
   </gazebo>
-  
 
   <gazebo reference="left_caster">
     <mu1>0.0</mu1>
@@ -106,7 +105,6 @@
     </plugin>
   </gazebo>
 
-
   <gazebo reference="base_scan">
     <material>Gazebo/FlatBlack</material>
     <sensor type="ray" name="lds_lfcd_sensor">
@@ -133,14 +131,13 @@
           <stddev>0.01</stddev>
         </noise>
       </ray>
-      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_kaser.so">
+      <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
         <topicName>scan</topicName>
         <frameName>base_scan</frameName>
       </plugin>
     </sensor>
   </gazebo>
 
-
   <gazebo>
     <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
       <commandTopic>cmd_vel</commandTopic>
@@ -151,272 +148,140 @@
       <robotBaseFrame>base_footprint</robotBaseFrame>
       <publishWheelTF>false</publishWheelTF>
       <publishTf>true</publishTf>
-      <publishWheelJointState>true</publish WheelJointState>
+      <publishWheelJointState>true</publishWheelJointState>
       <legacyMode>false</legacyMode>
       <updateRate>30</updateRate>
       <leftJoint>wheel_left_joint</leftJoint>
       <rightJoint>wheel_right_joint</rightJoint>
-      <wheelSeparation>0.45</wheel Separation>
-      <wheelDiameter>0.1</wheel Diameter>
+      <wheelSeparation>0.45</wheelSeparation>
+      <wheelDiameter>0.1</wheelDiameter>
       <wheelAcceleration>1</wheelAcceleration>
       <wheelTorque>10</wheelTorque>
       <rosDebugLevel>na</rosDebugLevel>
     </plugin>
   </gazebo>
 
-    <xacro:macro name="cube_inertial" params="mass">
-        <inertial>
-            <mass value="${mass}"/>
-            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041" />
-        </inertial>
-    </xacro:macro>
+  <xacro:macro name="cube_inertial" params="mass">
+    <inertial>
+      <mass value="${mass}"/>
+      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041" />
+    </inertial>
+  </xacro:macro>
 
-    <xacro:macro name="cylinder_inertial" params="mass">
-        <inertial>
-            <mass value="${mass}"/>
-            <inertia ixx="0.0001" ixy="0.0" ixz="0.0" 
-                    iyy="0.0001" iyz="0.0" 
-                    izz="0.0001" />
-        </inertial>
-    </xacro:macro>
+  <xacro:macro name="cylinder_inertial" params="mass">
+    <inertial>
+      <mass value="${mass}"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" 
+               iyy="0.0001" iyz="0.0" 
+               izz="0.0001" />
+    </inertial>
+  </xacro:macro>
 
-    <xacro:macro name="sphere_inertial" params="mass">
-        <inertial>
-            <mass value="${mass}" />
-            <inertia ixx="1.2e-05" ixy="0.0" ixz="0.0"
-                    iyy="1.2e-05" iyz="0.0"
-                    izz="1.2e-05" />
-        </inertial>
-    </xacro:macro>
+  <xacro:macro name="sphere_inertial" params="mass">
+    <inertial>
+      <mass value="${mass}" />
+      <inertia ixx="1.2e-05" ixy="0.0" ixz="0.0"
+               iyy="1.2e-05" iyz="0.0"
+               izz="1.2e-05" />
+    </inertial>
+  </xacro:macro>
 
-    <xacro:macro name="wheel" params="prefix reflect material">
-      <link name="${prefix}_wheel">
-        <visual>
-          <geometry>
-            <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-          </geometry>
-          <material name="${material}"/>
-          <origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
-          <material name="red"/>
-        </visual>
-        <collision>
-          <geometry>
-            <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-          </geometry>
-          <origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
-        </collision>
-        <xacro:cylinder_inertial mass="${wheel_mass}" ixx="0.0001" iyy="0.001" izz="0.0001"/>
-      </link>
+  <xacro:macro name="rigid_inertial" params="mass ixx iyy izz">
+    <inertial>
+      <mass value="${mass}"/>
+      <inertia ixx="${ixx}" ixy="0.0" ixz="0.0"
+               iyy="${iyy}" iyz="0.0"
+               izz="${izz}"/>
+    </inertial>
+  </xacro:macro>
 
-      <gazebo reference="${prefix}_wheel">
-        <material>Gazebo/${material}</material>
-      </gazebo>
+  <xacro:macro name="wheel" params="prefix reflect material">
+    <link name="${prefix}_wheel">
+      <visual>
+        <geometry>
+          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
+        </geometry>
+        <material name="${material}"/>
+        <origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
+      </visual>
+      <collision>
+        <geometry>
+          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
+        </geometry>
+        <origin rpy="${PI*0.5} 0 0" xyz="0 ${reflect*wheel_length*0.5} 0"/>
+      </collision>
+      <xacro:cylinder_inertial mass="${wheel_mass}"/>
+    </link>
 
-      <joint name="wheel_${prefix}_joint" type="continuous">
-        <parent link="base_link"/>
-        <child link="${prefix}_wheel"/>
-        <origin xyz="${base_link_w*0.25} ${reflect*base_link*0.5} -${base_link_h*0.25}"/>
-        <axis xyz="0 1 0"/>
-      </joint>
-    </xacro:macro>
+    <gazebo reference="${prefix}_wheel">
+      <material>Gazebo/${material}</material>
+    </gazebo>
 
-
-    <xacro:macro name="caster" params="prefix reflect material">
-      <link name="${prefix}_caster">
-        <visual>
-          <geometry>
-            <sphere radius="${caster_radius}"/>
-          </geometry>
-          <origin xyz="0 0 0"/>
-          <material name="${material}"/>
-        </visual>
-        <collision>
-          <geometry>
-            <sphere radius="${caster_radius}"/>
-          </geometry>
-          <origin xyz="0 0 0"/>
-          <material name="${material}"/>
-        </collision>
-        <xacro:sphere_inertial mass="${caster_mass}"/>
-      </link>
-      <gazebo reference="${prefix}_caster">
-        <material>
-          Gazebo/${material}
-        </material>
-      </gazebo>
-      <joint name="base_to_${prefix}_caster" type="fixed">
-        <parent link="base_link"/>
-        <child link="${prefix}_caster"/>
-        <origin xyz="-${base_link_w*0.33} ${reflect*base_link_l*0.25} -${base_link_h*0.5}"/>
-      </joint>
-    </xacro:macro>
-
-    <xacro:macro name="rigid_inertial" params="mass ixx iyy izz">
-      <inertial>
-        <mass value="${mass}"/>
-        <inertia ixx="${ixx}" ixy="0.0" ixz="0.0"
-                  iyy="${iyy}" iyz="0.0"
-                  izz="${izz}"/>
-      </inertial>
-    </xacro:macro>
-    
-
-
-    <link name="base_footprint"/>
-    
-    <joint name="base_joint" type="fixed">
-        <parent link="base_footprint"/>
-        <child link="base_link"/>
-        <origin xyz="0 0 0.050" rpy="0 0 0"/>
+    <joint name="wheel_${prefix}_joint" type="continuous">
+      <parent link="base_link"/>
+      <child link="${prefix}_wheel"/>
+      <origin xyz="${base_link_w*0.25} ${reflect*base_link_w*0.5} -${base_link_h*0.25}"/>
+      <axis xyz="0 1 0"/>
     </joint>
+  </xacro:macro>
 
-    <link name="base_link">
-        <visual>
-            <geometry>
-                <box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
-            </geometry>
-            <material name="orange"/>
-        </visual>
-        <collision>
-            <geometry>
-                <box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
-            </geometry>
-        </collision>
-
-        <!-- <inertial>
-            <mass value="${base_link_mass}"/>
-            <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.02" iyz="0.0" izz="0.041"/>
-        </inertial> -->
-
-        <!-- TODO: -->
-        <xacro:rigid_inertial mass="${base_link_mass}" ixx="0.01" iyy="0.02" izz="0.041"/>
-    </link>
-    <gazebo reference="base_link">
-        <material>Gazebo/Orange</material>
-    </gazebo>
-
-
-
-    <xacro:wheel prefix="right" reflect="-1" material="Red"/>
-    <xacro:wheel prefix="left" reflect="1" material="Green"/>
-
-    <!-- <link name="right_wheel">
-    <visual>
+  <xacro:macro name="caster" params="prefix reflect material">
+    <link name="${prefix}_caster">
+      <visual>
         <geometry>
-        <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
+          <sphere radius="${caster_radius}"/>
         </geometry>
-        <material name="red"/>
-        <origin rpy="1.57075 0 0" xyz="0 -0.025 0"/>
-        <material name="red"/>
-    </visual>
-    <collision>
+        <origin xyz="0 0 0"/>
+        <material name="${material}"/>
+      </visual>
+      <collision>
         <geometry>
-        <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
+          <sphere radius="${caster_radius}"/>
         </geometry>
-        <origin rpy="1.57075 0 0" xyz="0 -0.025 0"/>
-    </collision>
-    <xacro:cylinder_inertial mass="${wheel_mass}"/>
+        <origin xyz="0 0 0"/>
+      </collision>
+      <xacro:sphere_inertial mass="${caster_mass}"/>
     </link>
-
-    <gazebo reference="right_wheel">
-        <material>Gazebo/Red</material>
+    <gazebo reference="${prefix}_caster">
+      <material>Gazebo/${material}</material>
     </gazebo>
+    <joint name="base_to_${prefix}_caster" type="fixed">
+      <parent link="base_link"/>
+      <child link="${prefix}_caster"/>
+      <origin xyz="-${base_link_w*0.33} ${reflect*base_link_l*0.25} -${base_link_h*0.5}"/>
+    </joint>
+  </xacro:macro>
 
-    <joint name="wheel_right_joint" type="continuous">
-        <parent link="base_link"/>
-        <child link="right_wheel"/>
-        <origin xyz="0.0 -0.2 -0.025"/>
-        <axis xyz="0 1 0"/>
-    </joint> -->
+  <link name="base_footprint"/>
+  
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0.050" rpy="0 0 0"/>
+  </joint>
 
-    <!-- <link name="left_wheel">
-        <visual>
-            <geometry>
-                <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-            </geometry>
-            <material name="green"/>
-            <origin rpy="1.57075 0 0" xyz="0 0.025 0"/>
-        </visual>
-        <collision>
-            <geometry>
-                <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-            </geometry>
-            <origin rpy="1.57075 0 0" xyz="0 0.025 0"/>
-        </collision>
-        <xacro:cylinder_inertial mass="${wheel_mass}"/>
-    </link>
-
-    <gazebo reference="left_wheel">
-        <material>Gazebo/Green</material>
-    </gazebo>
-
-    <joint name="wheel_left_joint" type="continuous">
-        <parent link="base_link"/>
-        <child link="left_wheel"/>
-        <origin xyz="0.0 0.2 -0.025"/>
-        <axis xyz="0 1 0"/>
-    </joint> -->
-
-
-  <xacro:caster prefix="right" reflect="1" material="Gray"/>
-  <xacro:caster prefix="left" reflect="-1" material="Gray"/>
-
-
-<!-- 
-  <link name="right_caster">
+  <link name="base_link">
     <visual>
       <geometry>
-        <sphere radius="${caster_radius}"/>
+        <box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
       </geometry>
-      <origin xyz="0 0 0"/>
-      <material name="white"/>
+      <material name="orange"/>
     </visual>
     <collision>
       <geometry>
-        <sphere radius="${caster_radius}"/>
+        <box size="${base_link_w} ${base_link_l} ${base_link_h}"/>
       </geometry>
-      <origin xyz="0 0 0"/>
     </collision>
-    <xacro:sphere_inertial mass="${caster_mass}"/>
+    <xacro:rigid_inertial mass="${base_link_mass}" ixx="0.01" iyy="0.02" izz="0.041"/>
   </link>
-  <gazebo reference="right_caster">
-    <material>Gazebo/Gray</material>
+  <gazebo reference="base_link">
+    <material>Gazebo/Orange</material>
   </gazebo>
 
-  <joint name="base_to_right_caster" type="fixed">
-    <parent link="base_link"/>
-    <child link="right_caster"/>
-    <origin xyz="${base_link_w*0.33} ${base_link_l*0.0} -${base_link_h*0.5}"/>
-  </joint> -->
-
-<!-- 
-<link name="left_caster">
-  <visual>
-    <geometry>
-      <sphere radius="${caster_radius}"/>
-    </geometry>
-    <origin xyz="0 0 0"/>
-    <material name="gray"/>
-  </visual>
-  <collision>
-    <geometry>
-      <sphere radius="${caster_radius}"/>
-    </geometry>
-    <origin xyz="0 0 0"/>
-  </collision>
-  <xacro:sphere_inertial mass="${caster_mass}"/>
-</link>
-<gazebo reference="left_caster">
-  <material>Gazebo/Gray</material>
-</gazebo>
-
-<joint name="base_to_left_caster" type="fixed">
-  <parent link="base_link"/>
-  <child link="left_caster"/>
-  <origin xyz="-${base_link_w*0.33} -${base_link_l*0} -${base_link_h*0.5}"/>
-</joint> -->
-
-<!-- imu -->
+  <xacro:wheel prefix="right" reflect="-1" material="red"/>
+  <xacro:wheel prefix="left" reflect="1" material="green"/>
+  <xacro:caster prefix="right" reflect="1" material="white"/>
+  <xacro:caster prefix="left" reflect="-1" material="white"/>
 
   <joint name="imu_joint" type="fixed">
     <parent link="base_link"/>
@@ -425,7 +290,6 @@
   </joint>
   <link name="imu_link"/>
 
-<!-- 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>
\ No newline at end of file