Rune Harlyk
129 lines
4.4 KiB
XML
129 lines
4.4 KiB
XML
<?xml version="1.0" ?>
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<material name="orange">
|
|
<color rgba="1.0 0.5 0.0 1"/>
|
|
</material>
|
|
<material name="black">
|
|
<color rgba="0.1 0.1 0.1 1"/>
|
|
</material>
|
|
<material name="grey">
|
|
<color rgba="0.6 0.6 0.6 1"/>
|
|
</material>
|
|
|
|
<xacro:macro name="rev_joint" params="name type axis_xyz origin_rpy origin_xyz parent child effort velocity damping friction upper lower">
|
|
<joint name="${name}" type="${type}">
|
|
<axis xyz="${axis_xyz}" />
|
|
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
|
|
<parent link="${parent}" />
|
|
<child link="${child}" />
|
|
<limit effort="${effort}" velocity="${velocity}" lower="${lower}" upper="${upper}"/>
|
|
<joint_properties damping="${damping}" friction="${friction}" />
|
|
</joint>
|
|
</xacro:macro>
|
|
|
|
<xacro:macro name="frame_joint" params="name type origin_rpy origin_xyz parent child">
|
|
<joint name="${name}" type="${type}">
|
|
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
|
|
<parent link="${parent}" />
|
|
<child link="${child}" />
|
|
</joint>
|
|
</xacro:macro>
|
|
|
|
<xacro:macro name="mesh_link" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height">
|
|
<link name="${name}">
|
|
<visual>
|
|
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
|
|
<geometry>
|
|
<mesh filename="${meshfile}" scale="${meshscale}"/>
|
|
</geometry>
|
|
<material name="${matname}"/>
|
|
</visual>
|
|
|
|
<collision>
|
|
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
|
|
<geometry>
|
|
<box size="${length} ${width} ${height}" />
|
|
</geometry>
|
|
</collision>
|
|
|
|
<inertial>
|
|
<mass value="${mass}" />
|
|
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
|
|
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
|
|
</inertial>
|
|
</link>
|
|
<gazebo reference="${name}">
|
|
<xacro:if value="${matname == 'black'}">
|
|
<material>Gazebo/Black</material>
|
|
</xacro:if>
|
|
<xacro:if value="${matname == 'orange'}">
|
|
<material>Gazebo/Orange</material>
|
|
</xacro:if>
|
|
</gazebo>
|
|
</xacro:macro>
|
|
|
|
<xacro:macro name="mesh_link_sphere" params="name origin_xyz origin_rpy meshfile meshscale c_xyz matname mass i_xyz i_rpy length width height radius">
|
|
<link name="${name}">
|
|
<visual>
|
|
<origin rpy="${origin_rpy}" xyz="${origin_xyz}" />
|
|
<geometry>
|
|
<mesh filename="${meshfile}" scale="${meshscale}"/>
|
|
</geometry>
|
|
<material name="${matname}"/>
|
|
</visual>
|
|
|
|
<collision>
|
|
<origin rpy="${origin_rpy}" xyz="${c_xyz}" />
|
|
<geometry>
|
|
<mesh filename="${meshfile}" scale="${meshscale}"/>
|
|
</geometry>
|
|
<contact_coefficients mu="10.1"/>
|
|
</collision>
|
|
|
|
<inertial>
|
|
<mass value="${mass}" />
|
|
<origin rpy="${i_rpy}" xyz="${i_xyz}" /> <!-- Inertial Axes -->
|
|
<inertia ixx="${mass * (width * width + height * height)/12.0}" ixy="${0}" ixz="${0}" iyx="${0}" iyy="${mass * (length * length + height * height)/12.0}" iyz="${0}" izx="${0}" izy="${0}" izz="${mass * (length * length + width * width)/12.0}" />
|
|
</inertial>
|
|
</link>
|
|
|
|
<gazebo reference="${name}">
|
|
<kp>1000000.0</kp>
|
|
<kd>1.0</kd>
|
|
<mu1>0.8</mu1>
|
|
<mu2>0.8</mu2>
|
|
<maxVel>0.0</maxVel>
|
|
<minDepth>0.001</minDepth>
|
|
<material>Gazebo/Orange</material>
|
|
</gazebo>
|
|
</xacro:macro>
|
|
|
|
|
|
<!-- Left Leg: prefix is front or rear -->
|
|
<!-- <xacro:macro name="LeftLeg" params="prefix reflect">
|
|
<link name="${prefix}_Left_Leg">
|
|
<visual>
|
|
<geometry>
|
|
<box size="${leglen} 0.1 0.2"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
|
<material name="white"/>
|
|
</visual>
|
|
<collision>
|
|
<geometry>
|
|
<box size="${leglen} 0.1 0.2"/>
|
|
</geometry>
|
|
<origin xyz="0 0 -${leglen/2}" rpy="0 ${pi/2} 0"/>
|
|
</collision>
|
|
<xacro:default_inertial mass="10"/>
|
|
</link>
|
|
|
|
<joint name="base_to_${prefix}_leg" type="fixed">
|
|
<parent link="base_link"/>
|
|
<child link="${prefix}_leg"/>
|
|
<origin xyz="0 ${reflect*(width+.02)} 0.25" />
|
|
</joint>
|
|
</xacro:macro> -->
|
|
|
|
</robot> |