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 | 1 | initial version |
here is my URDF:
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://ros.org/wiki/xacro" name="pioneer3dx"> <property name="M_PI" value="3.14159"/>
<include filename="$(find robina_description)/urdf/gazebo.urdf.xacro"/> <include filename="$(find robina_description)/urdf/robina_calibration.xacro"/>
<link name="base_link"> <inertial> <mass value="3.5"/> <origin xyz="-0.025 0 -0.223"/> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> </inertial> <visual name="base_visual"> <origin xyz="0 0 0.177" rpy="0 0 0"/> <geometry name="pioneer_geom"> <mesh filename="package://robina_description/meshes/p3at_meshes/chassis.stl"/> </geometry> <material name="ChassisRed"> <color rgba="0.851 0.0 0.0 1.0"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> </collision> </link>
<link name="top_plate">
<inertial>
<mass value="0"/>
<origin xyz="-0.025 0 -0.223"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/top.stl"/>
</geometry>
<material name="TopBlack">
<color rgba="0.038 0.038 0.038 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
.png "Alireza"){kind=avatar}
<joint name="base_top_joint" type="fixed">
<origin xyz="0.003 0 0.41" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="top_plate"/>
</joint>
<link name="ptu_base">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin xyz="0.003 0 0.274" rpy="0 0 0"/>
</inertial>
<visual>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</collision>
</link>
<link name="ptu_piece">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin/>
</inertial>
<visual>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
<!--<material name="black"/>-->
</visual>
<collision>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
</collision>
</link> <joint name="pan" type="continuous"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <parent link="ptu_base"/> <child link="ptu_piece"/> </joint> <link name="ptu_mount"> <inertial> <mass value="1"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <origin/> </inertial> <visual> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </visual> <collision> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </collision> </link> <joint name="tilt" type="continuous"> <origin xyz="0 0 .065"/> <axis xyz="0 -1 0"/> <parent link="ptu_piece"/> <child link="ptu_mount"/> </joint>
<joint name="top_ptu_joint" type="fixed">
<origin xyz="-0.05 0.0 0.88" rpy="0 0.2 0"/>
<parent link="top_plate"/>
<child link="ptu_base"/>
</joint>
<link name="front_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/front_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_joint" type="fixed">
<origin xyz="0.193 0 0.25" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_sonar"/>
</joint>
<link name="back_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/back_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_back_joint" type="fixed">
<origin xyz="-0.187 0 0.247" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_sonar"/>
</joint>
<xacro:macro name="p3at_front" params="suffix reflect">
<link name="p3at_front_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_axle_joint" type="fixed">
<origin xyz="0.135 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_front_${suffix}_axle"/>
</joint>
<link name="p3at_front_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow">
<color rgba="1.0 0.811 0.151 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_hub_joint" type="fixed">
<origin xyz="0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_axle"/>
<child link="p3at_front_${suffix}_hub"/>
</joint>
<link name="p3at_front_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack">
<color rgba="0.117 0.117 0.117 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_hub"/>
<child link="p3at_front_${suffix}_wheel"/>
</joint>
<link name="p3at_back_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="bp3at_back_${suffix}_axle_joint" type="fixed">
<origin xyz="-0.134 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_back_${suffix}_axle"/>
</joint>
<link name="p3at_back_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_hub_joint" type="fixed">
<origin xyz="-0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_axle"/>
<child link="p3at_back_${suffix}_hub"/>
</joint>
<link name="p3at_back_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_hub"/>
<child link="p3at_back_${suffix}_wheel"/>
</joint>
</xacro:macro>
<xacro:p3at_front suffix="left" reflect="1"/> <xacro:p3at_front suffix="right" reflect="-1"/> <xacro:p3at_back suffix="left" reflect="1"/> <xacro:p3at_back suffix="right" reflect="-1"/>
<joint name="base_camera_joint" type="fixed"> <origin xyz="${robina_calib_cam_x} ${robina_calib_cam_y} ${robina_calib_cam_z}" rpy="${robina_calib_cam_rr} ${robina_calib_cam_rp} ${robina_calib_cam_ry}"/> <parent link="${robina_camera_parent_name}"/> <child link="camera_link"/> </joint>
<link name="camera_link"> <inertial> <mass value="0.01"/> <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>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://robina_description/meshes/kinect.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.0730 .2760 0.0720"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed"> <origin xyz="0 0.018 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_depth_frame"/> </joint>
<link name="camera_depth_frame"> <inertial> <mass value="0.01"/> <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="camera_depth_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_depth_frame"/> <child link="camera_depth_optical_frame"/> </joint>
<link name="camera_depth_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_joint" type="fixed"> <origin xyz="0 -0.005 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_rgb_frame"/> </joint>
<link name="camera_rgb_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_rgb_frame"/> <child link="camera_rgb_optical_frame"/> </joint>
<link name="camera_rgb_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
</robot>
| | 2 | No.2 Revision |
here is my URDF:
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://ros.org/wiki/xacro" name="pioneer3dx"> <property name="M_PI" value="3.14159"/>
<include filename="$(find robina_description)/urdf/gazebo.urdf.xacro"/> <include filename="$(find robina_description)/urdf/robina_calibration.xacro"/>
<link name="base_link"> <inertial> <mass value="3.5"/> <origin xyz="-0.025 0 -0.223"/> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> </inertial> <visual name="base_visual"> <origin xyz="0 0 0.177" rpy="0 0 0"/> <geometry name="pioneer_geom"> <mesh filename="package://robina_description/meshes/p3at_meshes/chassis.stl"/> </geometry> <material name="ChassisRed"> <color rgba="0.851 0.0 0.0 1.0"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> </collision> </link>
<link name="top_plate">
<inertial>
<mass value="0"/>
<origin xyz="-0.025 0 -0.223"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/top.stl"/>
</geometry>
<material name="TopBlack">
<color rgba="0.038 0.038 0.038 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_top_joint" type="fixed">
<origin xyz="0.003 0 0.41" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="top_plate"/>
</joint>
<link name="ptu_base">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin xyz="0.003 0 0.274" rpy="0 0 0"/>
</inertial>
<visual>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</collision>
</link>
<link name="ptu_piece">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin/>
</inertial>
<visual>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
<!--<material name="black"/>-->
</visual>
<collision>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
</collision>
</link> <joint name="pan" type="continuous"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <parent link="ptu_base"/> <child link="ptu_piece"/> </joint> <link name="ptu_mount"> <inertial> <mass value="1"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <origin/> </inertial> <visual> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </visual> <collision> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </collision> </link> <joint name="tilt" type="continuous"> <origin xyz="0 0 .065"/> <axis xyz="0 -1 0"/> <parent link="ptu_piece"/> <child link="ptu_mount"/> </joint>
<joint name="top_ptu_joint" type="fixed">
<origin xyz="-0.05 0.0 0.88" rpy="0 0.2 0"/>
<parent link="top_plate"/>
<child link="ptu_base"/>
</joint>
<link name="front_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/front_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_joint" type="fixed">
<origin xyz="0.193 0 0.25" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_sonar"/>
</joint>
<link name="back_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/back_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_back_joint" type="fixed">
<origin xyz="-0.187 0 0.247" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_sonar"/>
</joint>
<xacro:macro name="p3at_front" params="suffix reflect">
<link name="p3at_front_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_axle_joint" type="fixed">
<origin xyz="0.135 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_front_${suffix}_axle"/>
</joint>
<link name="p3at_front_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow">
<color rgba="1.0 0.811 0.151 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_hub_joint" type="fixed">
<origin xyz="0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_axle"/>
<child link="p3at_front_${suffix}_hub"/>
</joint>
<link name="p3at_front_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack">
<color rgba="0.117 0.117 0.117 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_hub"/>
<child link="p3at_front_${suffix}_wheel"/>
</joint>
<link name="p3at_back_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="bp3at_back_${suffix}_axle_joint" type="fixed">
<origin xyz="-0.134 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_back_${suffix}_axle"/>
</joint>
<link name="p3at_back_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_hub_joint" type="fixed">
<origin xyz="-0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_axle"/>
<child link="p3at_back_${suffix}_hub"/>
</joint>
<link name="p3at_back_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_hub"/>
<child link="p3at_back_${suffix}_wheel"/>
</joint>
</xacro:macro>
<xacro:p3at_front suffix="left" reflect="1"/> <xacro:p3at_front suffix="right" reflect="-1"/> <xacro:p3at_back suffix="left" reflect="1"/> <xacro:p3at_back suffix="right" reflect="-1"/>
<joint name="base_camera_joint" type="fixed"> <origin xyz="${robina_calib_cam_x} ${robina_calib_cam_y} ${robina_calib_cam_z}" rpy="${robina_calib_cam_rr} ${robina_calib_cam_rp} ${robina_calib_cam_ry}"/> <parent link="${robina_camera_parent_name}"/> <child link="camera_link"/> </joint>
<link name="camera_link"> <inertial> <mass value="0.01"/> <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>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://robina_description/meshes/kinect.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.0730 .2760 0.0720"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed"> <origin xyz="0 0.018 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_depth_frame"/> </joint>
<link name="camera_depth_frame"> <inertial> <mass value="0.01"/> <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="camera_depth_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_depth_frame"/> <child link="camera_depth_optical_frame"/> </joint>
<link name="camera_depth_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_joint" type="fixed"> <origin xyz="0 -0.005 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_rgb_frame"/> </joint>
<link name="camera_rgb_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_rgb_frame"/> <child link="camera_rgb_optical_frame"/> </joint>
<link name="camera_rgb_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
</robot>
| | 3 | moved to pastebin |
here is my URDF:URDF: http://pastebin.com/RWeNLWDH
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:xacro="http://ros.org/wiki/xacro" name="pioneer3dx"> <property name="M_PI" value="3.14159"/>
<include filename="$(find robina_description)/urdf/gazebo.urdf.xacro"/> <include filename="$(find robina_description)/urdf/robina_calibration.xacro"/>
<link name="base_link"> <inertial> <mass value="3.5"/> <origin xyz="-0.025 0 -0.223"/> <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/> </inertial> <visual name="base_visual"> <origin xyz="0 0 0.177" rpy="0 0 0"/> <geometry name="pioneer_geom"> <mesh filename="package://robina_description/meshes/p3at_meshes/chassis.stl"/> </geometry> <material name="ChassisRed"> <color rgba="0.851 0.0 0.0 1.0"/> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.01 0.01 0.01"/> </geometry> </collision> </link>
<link name="top_plate">
<inertial>
<mass value="0"/>
<origin xyz="-0.025 0 -0.223"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/top.stl"/>
</geometry>
<material name="TopBlack">
<color rgba="0.038 0.038 0.038 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_top_joint" type="fixed">
<origin xyz="0.003 0 0.41" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="top_plate"/>
</joint>
<link name="ptu_base">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin xyz="0.003 0 0.274" rpy="0 0 0"/>
</inertial>
<visual>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0.015 0"/>
<geometry>
<box size="0.04 .07 .05"/>
</geometry>
</collision>
</link>
<link name="ptu_piece">
<inertial>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
<origin/>
</inertial>
<visual>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
<!--<material name="black"/>-->
</visual>
<collision>
<origin/>
<geometry>
<box size="0.04 .04 .06"/>
</geometry>
</collision>
</link> <joint name="pan" type="continuous"> <origin xyz="0 0 0"/> <axis xyz="0 0 1"/> <parent link="ptu_base"/> <child link="ptu_piece"/> </joint> <link name="ptu_mount"> <inertial> <mass value="1"/> <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/> <origin/> </inertial> <visual> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </visual> <collision> <origin/> <geometry> <box size="0.04 .27 .03"/> </geometry> </collision> </link> <joint name="tilt" type="continuous"> <origin xyz="0 0 .065"/> <axis xyz="0 -1 0"/> <parent link="ptu_piece"/> <child link="ptu_mount"/> </joint>
<joint name="top_ptu_joint" type="fixed">
<origin xyz="-0.05 0.0 0.88" rpy="0 0.2 0"/>
<parent link="top_plate"/>
<child link="ptu_base"/>
</joint>
<link name="front_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/front_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_joint" type="fixed">
<origin xyz="0.193 0 0.25" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_sonar"/>
</joint>
<link name="back_sonar">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/back_sonar.stl"/>
</geometry>
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_back_joint" type="fixed">
<origin xyz="-0.187 0 0.247" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="back_sonar"/>
</joint>
<xacro:macro name="p3at_front" params="suffix reflect">
<link name="p3at_front_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_axle_joint" type="fixed">
<origin xyz="0.135 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_front_${suffix}_axle"/>
</joint>
<link name="p3at_front_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow">
<color rgba="1.0 0.811 0.151 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_hub_joint" type="fixed">
<origin xyz="0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_axle"/>
<child link="p3at_front_${suffix}_hub"/>
</joint>
<link name="p3at_front_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack">
<color rgba="0.117 0.117 0.117 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="base_front_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_front_${suffix}_hub"/>
<child link="p3at_front_${suffix}_wheel"/>
</joint>
<link name="p3at_back_${suffix}_axle">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/axle.stl"/>
</geometry>
<material name="AxleGrey">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="bp3at_back_${suffix}_axle_joint" type="fixed">
<origin xyz="-0.134 ${reflect*0.156} 0.111" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="p3at_back_${suffix}_axle"/>
</joint>
<link name="p3at_back_${suffix}_hub">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/${suffix}_hubcap.stl"/>
</geometry>
<material name="HubcapYellow"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_hub_joint" type="fixed">
<origin xyz="-0 ${reflect*0.041} 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_axle"/>
<child link="p3at_back_${suffix}_hub"/>
</joint>
<link name="p3at_back_${suffix}_wheel">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0"/>
<inertia ixx="1" ixy="0" ixz="0"
iyy="1" iyz="0" izz="1"/>
</inertial>
<visual name="base_visual">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry name="pioneer_geom">
<mesh filename="package://robina_description/meshes/p3at_meshes/wheel.stl"/>
</geometry>
<material name="WheelBlack"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
</link>
<joint name="p3at_back_${suffix}_wheel_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="p3at_back_${suffix}_hub"/>
<child link="p3at_back_${suffix}_wheel"/>
</joint>
</xacro:macro>
<xacro:p3at_front suffix="left" reflect="1"/> <xacro:p3at_front suffix="right" reflect="-1"/> <xacro:p3at_back suffix="left" reflect="1"/> <xacro:p3at_back suffix="right" reflect="-1"/>
<joint name="base_camera_joint" type="fixed"> <origin xyz="${robina_calib_cam_x} ${robina_calib_cam_y} ${robina_calib_cam_z}" rpy="${robina_calib_cam_rr} ${robina_calib_cam_rp} ${robina_calib_cam_ry}"/> <parent link="${robina_camera_parent_name}"/> <child link="camera_link"/> </joint>
<link name="camera_link"> <inertial> <mass value="0.01"/> <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>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://robina_description/meshes/kinect.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.0730 .2760 0.0720"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed"> <origin xyz="0 0.018 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_depth_frame"/> </joint>
<link name="camera_depth_frame"> <inertial> <mass value="0.01"/> <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="camera_depth_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_depth_frame"/> <child link="camera_depth_optical_frame"/> </joint>
<link name="camera_depth_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_joint" type="fixed"> <origin xyz="0 -0.005 0" rpy="0 0 0"/> <parent link="camera_link"/> <child link="camera_rgb_frame"/> </joint>
<link name="camera_rgb_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
<joint name="camera_rgb_optical_joint" type="fixed"> <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}"/> <parent link="camera_rgb_frame"/> <child link="camera_rgb_optical_frame"/> </joint>
<link name="camera_rgb_optical_frame"> <inertial> <mass value="0.001"/> <origin xyz="0 0 0"/> <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/> </inertial> </link>
</robot>
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