minh.meng-hour
/
TurtleBot
0
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

debug urdf

This commit is contained in:
Ly PECHVATTANA 2023-08-29 23:23:45 -07:00
parent 145bf17cb7
commit acf67fbc0d
2 changed files with 38 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/turtlebot_controller/src/simple_controller.cpp
View File

@ -21,9 +21,9 @@ SimpleController::SimpleController(const ros::NodeHandle &nh,
ROS_INFO_STREAM("Using wheel separation " << separation);
right_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_right_controller/command", 10);
left_cmd_pub_ = nh_.advertise<std_msgs::Float64>("wheel_left_controller/command", 10);
vel_sub_ = nh_.subscribe("kubot_description/cmd_vel", 1000, &SimpleController::velCallback, this);
vel_sub_ = nh_.subscribe("turtlebot_controller/cmd_vel", 1000, &SimpleController::velCallback, this);
joint_sub_ = nh_.subscribe("joint_states", 1000, &SimpleController::jointCallback, this);
odom_pub_ = nh_.advertise<nav_msgs::Odometry>("kubot_description/odom", 10);
odom_pub_ = nh_.advertise<nav_msgs::Odometry>("turtlebot_controller/odom", 10);
speed_conversion_ << radius/2, radius/2, radius/separation, -radius/separation;
ROS_INFO_STREAM("The conversion matrix is \n" << speed_conversion_);

49
src/turtlebot_description/urdf/turtlebot.urdf.xacro
View File

@ -89,7 +89,24 @@
</inertial>
</link>
<link name="caster_back_right_link">
<link name="caster_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.005" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<!-- <link name="caster_back_right_link">
<collision>
<origin xyz="0 0.001 0" rpy="0 0 0"/>
<geometry>
@ -121,7 +138,7 @@
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
</link> -->
<link name="imu_link"/>
@ -149,7 +166,7 @@
izz="0.001" />
</inertial>
</link>
<!--
<link name="camera_link">
<collision>
<origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
@ -157,11 +174,11 @@
<box size="0.015 0.030 0.027"/>
</geometry>
</collision>
</link>
</link> -->
<link name="camera_rgb_frame"/>
<!-- <link name="camera_rgb_frame"/> -->
<link name="camera_rgb_optical_frame"/>
<!-- <link name="camera_rgb_optical_frame"/> -->
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
@ -182,7 +199,7 @@
<origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
<axis xyz="0 0 1"/>
</joint>
<!--
<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
@ -193,6 +210,12 @@
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
</joint> -->
<joint name="caster__joint" type="fixed">
<parent link="base_link"/>
<child link="caster_link"/>
<origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
</joint>
<joint name="imu_joint" type="fixed">
@ -207,22 +230,22 @@
<origin xyz="-0.024 0 0.122" rpy="0 0 0"/>
</joint>
<joint name="camera_joint" type="fixed">
<!-- <joint name="camera_joint" type="fixed">
<origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
</joint> -->
<!--
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
</joint> -->
<joint name="camera_rgb_optical_joint" type="fixed">
<!-- <joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
</joint> -->
</robot>