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- <?xml version="1.0" ?>
- <!-- =================================================================================== -->
- <!-- | This document was autogenerated by xacro from urdf/invpend.xacro | -->
- <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
- <!-- =================================================================================== -->
- <robot name="invpend" xmlns:xacro="http://www.ros.org/wiki/xacro">
- <gazebo reference="rcx_link">
- <material>Gazebo/ZincYellow</material>
- </gazebo>
- <gazebo reference="dummy_link">
- <material>Gazebo/ZincYellow</material>
- </gazebo>
- <gazebo reference="skidplate_front">
- <material>Gazebo/Blue</material>
- </gazebo>
- <gazebo reference="skidplate_rear">
- <material>Gazebo/Black</material>
- </gazebo>
- <gazebo reference="wheel_left">
- <material>Gazebo/Black</material>
- </gazebo>
- <gazebo reference="wheel_right">
- <material>Gazebo/Black</material>
- </gazebo>
- <gazebo reference="motor_link">
- <material>Gazebo/DarkGrey</material>
- </gazebo>
- <gazebo reference="turret_link">
- <material>Gazebo/Grey</material>
- </gazebo>
- <gazebo reference="bob_link">
- <material>Gazebo/Grey</material>
- </gazebo>
- <gazebo reference="subchassis_front">
- <material>Gazebo/Grey</material>
- </gazebo>
- <gazebo reference="subchassis_rear">
- <material>Gazebo/Grey</material>
- </gazebo>
- <!--
- <gazebo>
- <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
- <leftJoint>motor_to_wheelleft</leftJoint>
- <rightJoint>motor_to_wheelright</rightJoint>
- <robotBaseFrame>rcx_link</robotBaseFrame>
- <wheelSeparation>${rightWheelCogY-leftWheelCogY}</wheelSeparation>
- <wheelDiameter>${2*wheelRadius}</wheelDiameter>
- <publishWheelJointState>true</publishWheelJointState>
- <alwaysOn>true</alwaysOn>
- <updateRate>50</updateRate>
- <torque>20</torque>
- <commandTopic>cmd_vel</commandTopic>
- <odometryTopic>odom</odometryTopic>
- <odometryFrame>odom</odometryFrame>
- <publishWheelTF>true</publishWheelTF>
- </plugin>
- </gazebo>
- -->
- <!--
- <gazebo>
- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
- <robotNamespace>/invpend</robotNamespace>
- </plugin>
- </gazebo>
- -->
- <!--
- <gazebo>
- <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
- <robotNamespace>/invpend</robotNamespace>
- <jointName>turret_to_rod</jointName>
- <updateRate>10.0</updateRate>
- <alwaysOn>true</alwaysOn>
- </plugin>
- </gazebo>
- -->
- <!-- Set a fixed frame -->
- <!--
- <link name="world"/>
- <joint name="fixed" type="fixed">
- <parent link="world"/>
- <child link="rcx_link"/>
- </joint>
- -->
- <!-- Base RCX Chassis Assembly -->
- <link name="rcx_link">
- <visual>
- <geometry>
- <box size="0.096 0.063 0.035"/>
- </geometry>
- <material name="yellow">
- <color rgba="1 1 0 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="0.096 0.063 0.035"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- </link>
- <!-- -->
- <link name="dummy_link">
- <visual>
- <geometry>
- <box size="0.096 0.063 0.035"/>
- </geometry>
- <material name="yellow">
- <color rgba="1 1 0 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="0.096 0.063 0.035"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.27"/>
- <inertia ixx="0.000116865" ixy="0.0" ixz="0.0" iyy="0.0002349225" iyz="0.0" izz="0.0002966625"/>
- </inertial>
- </link>
- <joint name="rcx_to_dummy" type="fixed">
- <parent link="rcx_link"/>
- <child link="dummy_link"/>
- </joint>
- <link name="subchassis_front">
- <visual>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <material name="gray">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.004"/>
- <inertia ixx="1.53133333333e-06" ixy="0.0" ixz="0.0" iyy="5.49666666667e-07" iyz="0.0" izz="1.66433333333e-06"/>
- </inertial>
- </link>
- <joint name="rcx_to_front_subchassis" type="fixed">
- <parent link="rcx_link"/>
- <child link="subchassis_front"/>
- <origin xyz="0.032 0.0 -0.03"/>
- </joint>
- <link name="subchassis_rear">
- <visual>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <material name="gray"/>
- </visual>
- <collision>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.004"/>
- <inertia ixx="1.53133333333e-06" ixy="0.0" ixz="0.0" iyy="5.49666666667e-07" iyz="0.0" izz="1.66433333333e-06"/>
- </inertial>
- </link>
- <joint name="rcx_to_rear_subchassis" type="fixed">
- <parent link="rcx_link"/>
- <child link="subchassis_rear"/>
- <origin xyz="-0.032 0.0 -0.03"/>
- </joint>
- <link name="motor_link">
- <visual>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <material name="darkgray">
- <color rgba="0.3 0.3 0.3 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <box size="0.032 0.063 0.025"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.088"/>
- <inertia ixx="3.36893333333e-05" ixy="0.0" ixz="0.0" iyy="1.20926666667e-05" iyz="0.0" izz="3.66153333333e-05"/>
- </inertial>
- </link>
- <joint name="rcx_to_motor" type="fixed">
- <parent link="rcx_link"/>
- <child link="motor_link"/>
- <origin xyz="0.0 0.0 -0.03"/>
- </joint>
- <link name="skidplate_front">
- <visual>
- <geometry>
- <sphere radius="0.008"/>
- </geometry>
- <material name="blue">
- <color rgba="0 0 1 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <sphere radius="0.008"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.0001"/>
- <inertia ixx="2.56e-09" ixy="0.0" ixz="0.0" iyy="2.56e-09" iyz="0.0" izz="2.56e-09"/>
- </inertial>
- </link>
- <joint name="skidplate_front_chassis" type="fixed">
- <parent link="subchassis_front"/>
- <child link="skidplate_front"/>
- <origin xyz="0.008 0.0 -0.016"/>
- </joint>
- <link name="skidplate_rear">
- <visual>
- <geometry>
- <sphere radius="0.008"/>
- </geometry>
- <material name="black"/>
- </visual>
- <collision>
- <geometry>
- <sphere radius="0.008"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.0001"/>
- <inertia ixx="2.56e-09" ixy="0.0" ixz="0.0" iyy="2.56e-09" iyz="0.0" izz="2.56e-09"/>
- </inertial>
- </link>
- <joint name="skidplate_rear_chassis" type="fixed">
- <parent link="subchassis_rear"/>
- <child link="skidplate_rear"/>
- <origin xyz="-0.008 0.0 -0.016"/>
- </joint>
- <link name="turret_link">
- <visual>
- <geometry>
- <box size="0.032 0.032 0.005"/>
- </geometry>
- <material name="darkgray"/>
- </visual>
- <collision>
- <geometry>
- <box size="0.032 0.032 0.005"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.004"/>
- <inertia ixx="3.49666666667e-07" ixy="0.0" ixz="0.0" iyy="3.49666666667e-07" iyz="0.0" izz="6.82666666667e-07"/>
- </inertial>
- </link>
- <joint name="rcx_to_turret" type="fixed">
- <parent link="rcx_link"/>
- <child link="turret_link"/>
- <origin xyz="0.0 0.0 0.02"/>
- </joint>
- <!-- Attach Two Wheels to Chassis Assembly at Motor -->
- <link name="wheel_left">
- <visual>
- <geometry>
- <cylinder length="0.01" radius="0.021"/>
- </geometry>
- <origin rpy="1.57079632679 0 0"/>
- <material name="black"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.01" radius="0.021"/>
- </geometry>
- <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
- <mass value="0.009"/>
- <inertia ixx="1.06725e-06" ixy="0.0" ixz="0.0" iyy="1.06725e-06" iyz="0.0" izz="1.9845e-06"/>
- </inertial>
- </link>
- <joint name="motor_to_wheelleft" type="continuous">
- <parent link="motor_link"/>
- <child link="wheel_left"/>
- <origin xyz="0.0 0.038 -0.005"/>
- <axis xyz="0 1 0"/>
- </joint>
- <link name="wheel_right">
- <visual>
- <geometry>
- <cylinder length="0.01" radius="0.021"/>
- </geometry>
- <origin rpy="1.57079632679 0 0"/>
- <material name="black">
- <color rgba="0 0 0 1"/>
- </material>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.01" radius="0.021"/>
- </geometry>
- <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
- <mass value="0.009"/>
- <inertia ixx="1.06725e-06" ixy="0.0" ixz="0.0" iyy="1.06725e-06" iyz="0.0" izz="1.9845e-06"/>
- </inertial>
- </link>
- <joint name="motor_to_wheelright" type="continuous">
- <parent link="motor_link"/>
- <child link="wheel_right"/>
- <origin xyz="0.0 -0.038 -0.005"/>
- <axis xyz="0 1 0"/>
- </joint>
- <!-- Attach Pendulum to top of RCX Chassis Assembly -->
- <link name="rod_link">
- <visual>
- <geometry>
- <cylinder length="0.095" radius="0.0025"/>
- </geometry>
- <origin xyz="0 0 0.0475"/>
- <material name="gray"/>
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.095" radius="0.0025"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz="0 0 0.0475"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz="0 0 0.0475"/>
- <mass value="0.004"/>
- <inertia ixx="3.01458333333e-06" ixy="0.0" ixz="0.0" iyy="3.01458333333e-06" iyz="0.0" izz="1.25e-08"/>
- </inertial>
- </link>
- <joint name="turret_to_rod" type="revolute">
- <parent link="turret_link"/>
- <child link="rod_link"/>
- <axis xyz="0 1 0"/>
- <limit effort="1000.0" lower="-1.62" upper="1.62" velocity="0.5"/>
- <origin xyz="0.0 0.0 0.00625"/>
- </joint>
- <link name="bob_link">
- <visual>
- <geometry>
- <sphere radius="0.01"/>
- </geometry>
- <material name="black"/>
- </visual>
- <collision>
- <geometry>
- <sphere radius="0.01"/>
- </geometry>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- </collision>
- <inertial>
- <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
- <mass value="0.004"/>
- <inertia ixx="1.6e-07" ixy="0.0" ixz="0.0" iyy="1.6e-07" iyz="0.0" izz="1.6e-07"/>
- </inertial>
- </link>
- <joint name="rod_to_bob" type="fixed">
- <parent link="rod_link"/>
- <child link="bob_link"/>
- <origin xyz="0.0 0.0 0.095"/>
- </joint>
- <!--
- <transmission name="tran0">
- <type>transmission_interface/SimpleTransmission</type>
- <joint name="turret_to_rod">
- <hardwareInterface>PositionJointInterface</hardwareInterface>
- </joint>
- <actuator name="motor0">
- <hardwareInterface>PositionJointInterface</hardwareInterface>
- <mechanicalReduction>1</mechanicalReduction>
- </actuator>
- </transmission>
- -->
- </robot>
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