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clearpathHusky.urdf
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clearpathHusky.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from husky_description/urdf/husky.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)
\file husky.urdf.xacro
\authors Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Base link is the center of the robot's bottom plate -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.061875"/>
<geometry>
<box size="0.9874 0.5709 0.12375"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.175625"/>
<geometry>
<box size="0.78992 0.5709 0.10375"/>
</geometry>
</collision>
</link>
<!-- Base footprint is on the ground under the robot -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.13228"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<!-- Interial link stores the robot's inertial information -->
<link name="inertial_link">
<inertial>
<mass value="46.034"/>
<origin xyz="-0.00065 -0.085 0.062"/>
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
</inertial>
</link>
<joint name="inertial_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="inertial_link"/>
</joint>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<origin rpy="0 -1.5708 3.1416" xyz="0.19 0 0.149"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
</gazebo>
<link name="front_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="front_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="front_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="front_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_left_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_right_wheel_link">
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.04411" iyz="0" izz="0.02467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/wheel.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.1651"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
</gazebo>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_chassis.dae"/>
</geometry>
</visual>
</link>
<!-- Attach chassis to the robot -->
<joint name="top_chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="top_chassis_link"/>
</joint>
<!-- Spawn user rails -->
<link name="user_rail_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/user_rail.dae"/>
</geometry>
</visual>
</link>
<!-- Attach user rails to base link -->
<joint name="user_rail" type="fixed">
<origin rpy="0 0 0" xyz="0.272 0 0.245"/>
<parent link="base_link"/>
<child link="user_rail_link"/>
</joint>
<!-- Spawn front bumper link -->
<link name="front_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.dae"/>
</geometry>
</visual>
</link>
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
<parent link="base_link"/>
<child link="front_bumper_link"/>
</joint>
<!-- Spawn rear bumper link -->
<link name="rear_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.dae"/>
</geometry>
</visual>
</link>
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
<parent link="base_link"/>
<child link="rear_bumper_link"/>
</joint>
<link name="top_plate_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.stl"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link"/>
<child link="top_plate_link"/>
<origin rpy="0 0 0" xyz="0.0812 0 0.245"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
<parent link="top_plate_link"/>
<child link="top_plate_front_link"/>
<origin rpy="0 0 0" xyz="0.36367 0 0.00639"/>
</joint>
<!-- Top plate rear link-->
<joint name="top_plate_rear_joint" type="fixed">
<parent link="top_plate_link"/>
<child link="top_plate_rear_link"/>
<origin rpy="0 0 0" xyz="-0.36633 0 0.00639"/>
</joint>
<link name="top_plate_front_link"/>
<link name="top_plate_rear_link"/>
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_imu.so" name="imu_controller">
<robotNamespace>/</robotNamespace>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libhector_gazebo_ros_gps.so" name="gps_controller">
<robotNamespace>/</robotNamespace>
<updateRate>40</updateRate>
<bodyName>base_link</bodyName>
<frameId>base_link</frameId>
<topicName>navsat/fix</topicName>
<velocityTopicName>navsat/vel</velocityTopicName>
<referenceLatitude>49.9</referenceLatitude>
<referenceLongitude>8.9</referenceLongitude>
<referenceHeading>0</referenceHeading>
<referenceAltitude>0</referenceAltitude>
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo>
<!-- This file is a placeholder which is included by default from
husky.urdf.xacro. If a robot is being customized and requires
additional URDF, set the HUSKY_URDF_EXTRAS environment variable
to the full path of the file you would like included. -->
</robot>