Darkages/SpotMicroESP32-Leika
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Adds Simulator from OpenQuadruped/spot_mini_mini

Browse Source
This commit is contained in:
Rune Harlyk
2024-03-04 15:55:45 +01:00
parent 02871591fd
commit 6a981b64fa
162 changed files with 11940 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mock/simulator/mini_ros/urdf/accessories.urdf.xacro
+57
View File
@@ -0,0 +1,57 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
<xacro:hokuyo_utm30lx
name="hokuyo"
parent="base_link"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>
<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>
<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_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>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
</joint>
<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>