From d8b8e0dcd331aeed3d7b03ab1f465e5aa811ce77 Mon Sep 17 00:00:00 2001
From: "minh.meng-hour" <minh.meng-hour@ecam.fr>
Date: Wed, 30 Aug 2023 01:57:04 -0700
Subject: [PATCH] urdf debug

---
 .../launch/gazebo.launch                      |  21 ---
 src/turtlebot_description/rviz/display.rviz   |  32 -----
 .../urdf/turtlebot.urdf.xacro                 | 121 ++----------------
 .../urdf/turtlebot_gazebo.xacro               |  42 ++----
 4 files changed, 22 insertions(+), 194 deletions(-)

diff --git a/src/turtlebot_description/launch/gazebo.launch b/src/turtlebot_description/launch/gazebo.launch
index dd06c02..e69de29 100644
--- 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>
\ No newline at end of file
diff --git a/src/turtlebot_description/rviz/display.rviz b/src/turtlebot_description/rviz/display.rviz
index d134623..c7c8caf 100644
--- 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:
diff --git a/src/turtlebot_description/urdf/turtlebot.urdf.xacro b/src/turtlebot_description/urdf/turtlebot.urdf.xacro
index 8af799e..66fca92 100644
--- 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>
\ No newline at end of file
diff --git a/src/turtlebot_description/urdf/turtlebot_gazebo.xacro b/src/turtlebot_description/urdf/turtlebot_gazebo.xacro
index 3e7f4eb..112e455 100644
--- 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>
\ No newline at end of file