urdf debug

2023-08-30 01:57:04 -07:00 · 2023-08-30 01:57:04 -07:00 · d8b8e0dcd3
parent cf59b4cd5c
commit d8b8e0dcd3
4 changed files with 22 additions and 194 deletions
--- a/src/turtlebot_description/launch/gazebo.launch
+++ b/src/turtlebot_description/launch/gazebo.launch
@ -1,21 +0,0 @@
-<launch>
-   <arg name="model" default="$(find kubot_description)/urdf/kubot.urdf.xacro"/>
-   <arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
-   <!-- <arg name="world" default="empty_world"/> -->
-   
-   <param name="robot_description" command="$(find xacro)/xacro '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
-   
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(arg world)"/>
-        <arg name="paused" value="false"/>
-        <arg name="use_sim_time" value="true"/>
-        <arg name="gui" value="true"/>
-        <arg name="recording" value="false"/>
-        <arg name="debug" value="false"/>
-    </include>
-
-    <node pkg="gazebo_ros" type="spawn_model" name="spawn_model"
-        args="-unpause -urdf -model robot -param robot_description"
-        output="screen" respawn="false"/>
-
-</launch>
--- a/src/turtlebot_description/rviz/display.rviz
+++ b/src/turtlebot_description/rviz/display.rviz
@ -9,11 +9,7 @@ Panels:
        - /RobotModel1
        - /TF1
        - /TF1/Frames1
-<<<<<<< HEAD
-      Splitter Ratio: 0.5
-=======
      Splitter Ratio: 0.5264706015586853
->>>>>>> devolop
    Tree Height: 439
  - Class: rviz/Selection
    Name: Selection
@ -82,29 +78,7 @@ Visualization Manager:
          Show Axes: false
          Show Trail: false
          Value: true
-<<<<<<< HEAD
-        camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_rgb_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_rgb_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        caster_back_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_right_link:
-=======
        caster_back:
->>>>>>> devolop
          Alpha: 1
          Show Axes: false
          Show Trail: false
@ -190,15 +164,9 @@ Visualization Manager:
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-<<<<<<< HEAD
-      Pitch: 0.5753997564315796
-      Target Frame: <Fixed Frame>
-      Yaw: 0.013627300970256329
-=======
      Pitch: 0.31039994955062866
      Target Frame: <Fixed Frame>
      Yaw: 4.9499592781066895
->>>>>>> devolop
    Saved: ~
 Window Geometry:
  Displays:
--- a/src/turtlebot_description/urdf/turtlebot.urdf.xacro
+++ b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
@ -9,11 +9,7 @@

    <link name="base_link">
        <visual>
-<<<<<<< HEAD
-            <origin xyz="-0.14 0.2 -0.05" rpy="1.5708 0 0"/>
-=======
            <origin xyz="-0.2 0.2 -0.07" rpy="1.5708 0 0"/>
->>>>>>> devolop
            <geometry>
                <mesh filename="package://turtlebot_description/meshes/bases/kubot_base.STL" scale="0.001 0.001 0.001"/>
            </geometry>
@ -23,7 +19,7 @@
        <collision>
            <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
            <geometry>
-                <box size="0.266 0.266 0.094"/>
+            <box size="0.266 0.266 0.094"/>
            </geometry>
        </collision>

@ -48,7 +44,7 @@
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
-                <cylinder length="0.018" radius="0.033"/>
+            <cylinder length="0.018" radius="0.033"/>
            </geometry>
        </collision>

@ -93,38 +89,11 @@
            </inertial>
    </link>

-<<<<<<< HEAD
-<<<<<<< HEAD
-    <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">
->>>>>>> c06338a682c5cc259374cb313033cea656328708
-        <collision>
-            <origin xyz="0 0.001 0" rpy="0 0 0"/>
-=======
    <link name="caster_back">
        

        <collision>
            <origin xyz="0 0.004 0" rpy="0 0 0"/>
->>>>>>> devolop
            <geometry>
                <box size="0.030 0.009 0.020"/>
            </geometry>
@ -139,26 +108,6 @@
        </inertial>            
    </link>

-<<<<<<< HEAD
-    <link name="caster_back_left_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> -->
-
-=======
->>>>>>> devolop
    <link name="imu_link"/>

    <link name="base_scan">
@ -185,35 +134,19 @@
               izz="0.001" />
        </inertial>
    </link>
-<<<<<<< HEAD

-<<<<<<< HEAD
-=======
-<!-- 
->>>>>>> c06338a682c5cc259374cb313033cea656328708
-    <link name="camera_link">
-=======
    <!-- <link name="camera_link">
->>>>>>> devolop
        <collision>
        <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
        <geometry>
            <box size="0.015 0.030 0.027"/>
        </geometry>
        </collision>
-    </link> -->
+    </link>

-    <!-- <link name="camera_rgb_frame"/> -->
+    <link name="camera_rgb_frame"/>

-<<<<<<< HEAD
-<<<<<<< HEAD
-    <link name="camera_rgb_optical_frame"/>
-=======
    <link name="camera_rgb_optical_frame"/> -->
->>>>>>> devolop
-=======
-    <!-- <link name="camera_rgb_optical_frame"/> -->
->>>>>>> c06338a682c5cc259374cb313033cea656328708

    <joint name="base_joint" type="fixed">
        <parent link="base_footprint"/>
@ -234,32 +167,14 @@
        <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"/>
-<<<<<<< HEAD
-        <child link="caster_back_right_link"/>
-        <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
-    </joint>
-
-    <joint name="caster_back_left_joint" type="fixed">
-        <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>
-=======
        <child link="caster_back"/>
        <origin xyz="-0.177 0 -0.004" rpy="-1.57 0 0"/>
    </joint>


->>>>>>> devolop

    <joint name="imu_joint" type="fixed">
        <parent link="base_link"/>
@ -273,38 +188,22 @@
        <origin xyz="-0.024 0 0.122" rpy="0 0 0"/> 
    </joint>

-<<<<<<< HEAD
-<<<<<<< HEAD
-    <joint name="camera_joint" type="fixed">
-=======
    <!-- <joint name="camera_joint" type="fixed">
->>>>>>> devolop
-=======
-    <!-- <joint name="camera_joint" type="fixed">
->>>>>>> c06338a682c5cc259374cb313033cea656328708
        <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"/>
-<<<<<<< HEAD
-<<<<<<< HEAD
-    </joint>
-=======
    </joint> -->
->>>>>>> devolop
-=======
-    </joint> -->
->>>>>>> c06338a682c5cc259374cb313033cea656328708
-
+<!-- zzz -->
 </robot>
--- a/src/turtlebot_description/urdf/turtlebot_gazebo.xacro
+++ b/src/turtlebot_description/urdf/turtlebot_gazebo.xacro
@ -32,7 +32,18 @@
        <material>Gazebo/FlatBlack</material>
    </gazebo>
    
-    <gazebo reference="caster_link">
+    <gazebo reference="caster_back_right_link">
+        <mu1>0.1</mu1>
+        <mu2>0.1</mu2>
+        <kp>1000000</kp>
+        <kd>100</kd>
+        <minDepth>0.001</minDepth>
+        <maxVel>1</maxVel>
+        <fdir1>1 0 0</fdir1>
+        <material>Gazebo/FlatBlack</material>
+    </gazebo>
+
+    <gazebo reference="caster_back_left_link">
        <mu1>0.1</mu1>
        <mu2>0.1</mu2>
        <kp>1000000</kp>
@ -71,33 +82,4 @@
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        </actuator>
    </transmission>
-
-    <gazebo reference="base_scan">
-
-        <sensor name="laser" type="ray">
-            <pose> 0 0 0 0 0 0 </pose>
-            <visualize>true</visualize>
-            <update_rate>10</update_rate>
-            <ray>
-                <scan>
-                    <horizontal>
-                        <samples>360</samples>
-                        <min_angle>-3.14</min_angle>
-                        <max_angle>3.14</max_angle>
-                    </horizontal>
-                </scan>
-                <range>
-                    <min>0.3</min>
-                    <max>12</max>
-                </range>
-            </ray>
-            <plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
-                <ros>
-                    <argument>~/out:=scan</argument>
-                </ros>
-                <output_type>sensor_msgs/LaserScan</output_type>
-                <frame_name>laser_frame</frame_name>
-            </plugin>
-        </sensor>
-    </gazebo>
 </robot>