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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="linorobot2_2wd" xmlns:xacro="http://ros.org/wiki/xacro"> | ||
| <xacro:property name="base_length" value="0.34" /> | ||
| <xacro:property name="base_width" value="0.34" /> | ||
| <xacro:property name="base_height" value="0.07" /> | ||
| <xacro:property name="base_mass" value="5" /> | ||
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||
| <xacro:property name="wheel_radius" value="0.05" /> | ||
| <xacro:property name="wheel_width" value="0.01" /> | ||
| <xacro:property name="wheel_pos_x" value="0.0" /> | ||
| <xacro:property name="wheel_pos_y" value="0.175" /> | ||
| <xacro:property name="wheel_pos_z" value="0.0" /> | ||
| <xacro:property name="wheel_mass" value=".1" /> | ||
| <xacro:property name="wheel_torque" value="40" /> | ||
| <xacro:property name="front_caster_wheel" value="true" /> | ||
| <xacro:property name="rear_caster_wheel" value="true" /> | ||
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||
| <xacro:include filename="$(find linorobot2_description)/urdf/mech/base.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/mech/wheel.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/mech/caster_wheel.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/sensors/imu.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/sensors/generic_laser.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/sensors/depth_sensor.urdf.xacro" /> | ||
| <xacro:include filename="$(find linorobot2_description)/urdf/controllers/diff_drive.urdf.xacro" /> | ||
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||
| <xacro:property name="laser_pose"> | ||
| <origin xyz="0.055 0.02 0.41" rpy="0 0 0"/> | ||
| </xacro:property> | ||
| <!-- Real camera z value is around 17cm, real camera x value is 13-14cm , 0.050 , 34 angle yawlidar--> | ||
| <xacro:property name="depth_sensor_pose"> | ||
| <origin xyz="0.14 0.0 0.12" rpy="0 0 0"/> | ||
| </xacro:property> | ||
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| <xacro:base | ||
| length="${base_length}" | ||
| width="${base_width}" | ||
| height="${base_height}" | ||
| mass="${base_mass}" | ||
| wheel_radius="${wheel_radius}" | ||
| wheel_pos_z="${wheel_pos_z}" | ||
| /> | ||
|
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||
| <xacro:wheel | ||
| side="left" | ||
| radius="${wheel_radius}" | ||
| width="${wheel_width}" | ||
| pos_x="${wheel_pos_x}" | ||
| pos_y="${wheel_pos_y}" | ||
| pos_z="${wheel_pos_z}" | ||
| mass="${wheel_mass}" | ||
| /> | ||
|
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||
| <xacro:wheel | ||
| side="right" | ||
| radius="${wheel_radius}" | ||
| width="${wheel_width}" | ||
| pos_x="${wheel_pos_x}" | ||
| pos_y="${-wheel_pos_y}" | ||
| pos_z="${wheel_pos_z}" | ||
| mass="${wheel_mass}" | ||
| /> | ||
|
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||
| <xacro:if value="${front_caster_wheel}"> | ||
| <xacro:caster_wheel | ||
| side="front" | ||
| mass="0.01" | ||
| base_length="${base_length}" | ||
| wheel_radius="${wheel_radius}" | ||
| wheel_pos_z="${wheel_pos_z}" | ||
| /> | ||
| </xacro:if> | ||
|
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||
| <xacro:if value="${rear_caster_wheel}"> | ||
| <xacro:caster_wheel | ||
| side="rear" | ||
| mass="0.01" | ||
| base_length="${base_length}" | ||
| wheel_radius="${wheel_radius}" | ||
| wheel_pos_z="${wheel_pos_z}" | ||
| /> | ||
| </xacro:if> | ||
|
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||
| <xacro:imu/> | ||
|
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| <xacro:generic_laser> | ||
| <xacro:insert_block name="laser_pose" /> | ||
| </xacro:generic_laser> | ||
|
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| <xacro:depth_sensor> | ||
| <xacro:insert_block name="depth_sensor_pose" /> | ||
| </xacro:depth_sensor> | ||
|
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| <xacro:diff_drive_controller | ||
| wheel_separation="${wheel_pos_y * 2}" | ||
| wheel_radius="${wheel_radius}" | ||
| wheel_torque="${wheel_torque}" | ||
| /> | ||
| </robot> |