init golf model

leo-drive · Jun 3, 2024 · 1daa0aa · 1daa0aa
1 parent 5469d84
commit 1daa0aa
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diff --git a/sample_vehicle_description/CMakeLists.txt → golf_vehicle_description/CMakeLists.txt b/sample_vehicle_description/CMakeLists.txt → golf_vehicle_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(sample_vehicle_description)
+project(golf_vehicle_description)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)

diff --git a/...icle_description/config/mirror.param.yaml → ...icle_description/config/mirror.param.yaml b/...icle_description/config/mirror.param.yaml → ...icle_description/config/mirror.param.yaml
diff --git a/...ription/config/simulator_model.param.yaml → ...ription/config/simulator_model.param.yaml b/...ription/config/simulator_model.param.yaml → ...ription/config/simulator_model.param.yaml
diff --git a/golf_vehicle_description/config/vehicle_info.param.yaml b/golf_vehicle_description/config/vehicle_info.param.yaml
@@ -0,0 +1,13 @@
+/**:
+  ros__parameters:
+    wheel_radius: 0.315 #0.3935 
+    wheel_width: 0.1 
+    wheel_base: 2.64 # between front wheel center and rear wheel center
+    wheel_tread: 1.75 # between left wheel center and right wheel center
+    front_overhang: 0.99  # between front wheel center and vehicle front
+    rear_overhang: 0.81 # between rear wheel center and vehicle rear
+    left_overhang: 0.14  # between left wheel center and vehicle left
+    right_overhang: 0.14  # between right wheel center and vehicle right
+    vehicle_height: 1.86 
+    max_steer_angle: 0.6105 # [rad] check again!(temp)
+
diff --git a/sample_vehicle_description/mesh/lexus.dae → golf_vehicle_description/mesh/golf.dae b/sample_vehicle_description/mesh/lexus.dae → golf_vehicle_description/mesh/golf.dae
diff --git a/sample_vehicle_description/package.xml → golf_vehicle_description/package.xml b/sample_vehicle_description/package.xml → golf_vehicle_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>sample_vehicle_description</name>
+  <name>golf_vehicle_description</name>
   <version>0.1.0</version>
   <description>The sample_vehicle_description package</description>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>

diff --git a/golf_vehicle_description/urdf/vehicle.xacro b/golf_vehicle_description/urdf/vehicle.xacro
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot name="golf" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- load parameter -->
+  <xacro:property
+    name="vehicle_info"
+    value="${load_yaml('$(find golf_vehicle_description)/config/vehicle_info.param.yaml')}"
+  />
+
+  <!-- vehicle body -->
+<link name="base_link">
+    <visual>
+      <!--<origin xyz="${vehicle_info['/**']['ros__parameters']['wheel_base']/2.0} 0 0" rpy="0 0 ${pi/2.0}"/>-->
+      <origin xyz="1.3772 0.0 0.0" rpy="0 0 ${pi/2.0}"/>
+      <geometry>
+        <mesh filename="package://golf_vehicle_description/mesh/golf.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+</link>
+</robot>
diff --git a/sample_vehicle_launch/CMakeLists.txt → golf_vehicle_launch/CMakeLists.txt b/sample_vehicle_launch/CMakeLists.txt → golf_vehicle_launch/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(sample_vehicle_launch)
+project(golf_vehicle_launch)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)

diff --git a/...aunch/launch/vehicle_interface.launch.xml → ...aunch/launch/vehicle_interface.launch.xml b/...aunch/launch/vehicle_interface.launch.xml → ...aunch/launch/vehicle_interface.launch.xml
diff --git a/sample_vehicle_launch/package.xml → golf_vehicle_launch/package.xml b/sample_vehicle_launch/package.xml → golf_vehicle_launch/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>sample_vehicle_launch</name>
+  <name>golf_vehicle_launch</name>
   <version>0.1.0</version>
   <description>The sample_vehicle_launch package</description>
   <maintainer email="[email protected]">Ryohsuke Mitsudome</maintainer>

diff --git a/sample_vehicle_description/config/vehicle_info.param.yaml b/sample_vehicle_description/config/vehicle_info.param.yaml
diff --git a/sample_vehicle_description/mesh/lexus.jpg b/sample_vehicle_description/mesh/lexus.jpg
diff --git a/sample_vehicle_description/urdf/vehicle.xacro b/sample_vehicle_description/urdf/vehicle.xacro