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son_of_klaatu

invpend.urdf

Jul 3rd, 2016
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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- |    This document was autogenerated by xacro from urdf/invpend.xacro             | -->
  4. <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
  5. <!-- =================================================================================== -->
  6. <robot name="invpend" xmlns:xacro="http://www.ros.org/wiki/xacro">
  7.   <gazebo reference="rcx_link">
  8.     <material>Gazebo/ZincYellow</material>
  9.   </gazebo>
  10.   <gazebo reference="dummy_link">
  11.     <material>Gazebo/ZincYellow</material>
  12.   </gazebo>
  13.   <gazebo reference="skidplate_front">
  14.     <material>Gazebo/Blue</material>
  15.   </gazebo>
  16.   <gazebo reference="skidplate_rear">
  17.     <material>Gazebo/Black</material>
  18.   </gazebo>
  19.   <gazebo reference="wheel_left">
  20.     <material>Gazebo/Black</material>
  21.   </gazebo>
  22.   <gazebo reference="wheel_right">
  23.     <material>Gazebo/Black</material>
  24.   </gazebo>
  25.   <gazebo reference="motor_link">
  26.     <material>Gazebo/DarkGrey</material>
  27.   </gazebo>
  28.   <gazebo reference="turret_link">
  29.     <material>Gazebo/Grey</material>
  30.   </gazebo>
  31.   <gazebo reference="bob_link">
  32.     <material>Gazebo/Grey</material>
  33.   </gazebo>
  34.   <gazebo reference="subchassis_front">
  35.     <material>Gazebo/Grey</material>
  36.   </gazebo>
  37.   <gazebo reference="subchassis_rear">
  38.     <material>Gazebo/Grey</material>
  39.   </gazebo>
  40.   <!--
  41.    <gazebo>
  42.        <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
  43.            <leftJoint>motor_to_wheelleft</leftJoint>
  44.            <rightJoint>motor_to_wheelright</rightJoint>
  45.            <robotBaseFrame>rcx_link</robotBaseFrame>
  46.            <wheelSeparation>${rightWheelCogY-leftWheelCogY}</wheelSeparation>
  47.            <wheelDiameter>${2*wheelRadius}</wheelDiameter>
  48.            <publishWheelJointState>true</publishWheelJointState>
  49.            
  50.            <alwaysOn>true</alwaysOn>
  51.            <updateRate>50</updateRate>
  52.            <torque>20</torque>
  53.            <commandTopic>cmd_vel</commandTopic>
  54.            <odometryTopic>odom</odometryTopic>
  55.            <odometryFrame>odom</odometryFrame>
  56.            
  57.            <publishWheelTF>true</publishWheelTF>
  58.        </plugin>
  59.    </gazebo>
  60. -->
  61.   <!--
  62.    <gazebo>
  63.        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
  64.            <robotNamespace>/invpend</robotNamespace>
  65.        </plugin>
  66.    </gazebo>
  67. -->
  68.   <!--
  69.    <gazebo>
  70.        <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
  71.          <robotNamespace>/invpend</robotNamespace>
  72.          <jointName>turret_to_rod</jointName>
  73.          <updateRate>10.0</updateRate>
  74.          <alwaysOn>true</alwaysOn>
  75.        </plugin>
  76.    </gazebo>
  77. -->
  78.  
  79.   <!-- Set a fixed frame -->
  80.   <!--
  81.  <link name="world"/>
  82.  
  83.  <joint name="fixed" type="fixed">
  84.    <parent link="world"/>
  85.    <child link="rcx_link"/>
  86.  </joint>
  87. -->
  88.   <!-- Base RCX Chassis Assembly -->
  89.   <link name="rcx_link">
  90.     <visual>
  91.       <geometry>
  92.         <box size="0.096 0.063 0.035"/>
  93.       </geometry>
  94.       <material name="yellow">
  95.         <color rgba="1 1 0 1"/>
  96.       </material>
  97.     </visual>
  98.     <collision>
  99.       <geometry>
  100.         <box size="0.096 0.063 0.035"/>
  101.       </geometry>
  102.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  103.     </collision>
  104.   </link>
  105.   <!-- -->
  106.   <link name="dummy_link">
  107.     <visual>
  108.       <geometry>
  109.         <box size="0.096 0.063 0.035"/>
  110.       </geometry>
  111.       <material name="yellow">
  112.         <color rgba="1 1 0 1"/>
  113.       </material>
  114.     </visual>
  115.     <collision>
  116.       <geometry>
  117.         <box size="0.096 0.063 0.035"/>
  118.       </geometry>
  119.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  120.     </collision>
  121.     <inertial>
  122.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  123.       <mass value="0.27"/>
  124.       <inertia ixx="0.000116865" ixy="0.0" ixz="0.0" iyy="0.0002349225" iyz="0.0" izz="0.0002966625"/>
  125.     </inertial>
  126.   </link>
  127.   <joint name="rcx_to_dummy" type="fixed">
  128.     <parent link="rcx_link"/>
  129.     <child link="dummy_link"/>
  130.   </joint>
  131.   <link name="subchassis_front">
  132.     <visual>
  133.       <geometry>
  134.         <box size="0.032 0.063 0.025"/>
  135.       </geometry>
  136.       <material name="gray">
  137.         <color rgba="0.5 0.5 0.5 1"/>
  138.       </material>
  139.     </visual>
  140.     <collision>
  141.       <geometry>
  142.         <box size="0.032 0.063 0.025"/>
  143.       </geometry>
  144.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  145.     </collision>
  146.     <inertial>
  147.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  148.       <mass value="0.004"/>
  149.       <inertia ixx="1.53133333333e-06" ixy="0.0" ixz="0.0" iyy="5.49666666667e-07" iyz="0.0" izz="1.66433333333e-06"/>
  150.     </inertial>
  151.   </link>
  152.   <joint name="rcx_to_front_subchassis" type="fixed">
  153.     <parent link="rcx_link"/>
  154.     <child link="subchassis_front"/>
  155.     <origin xyz="0.032 0.0 -0.03"/>
  156.   </joint>
  157.   <link name="subchassis_rear">
  158.     <visual>
  159.       <geometry>
  160.         <box size="0.032 0.063 0.025"/>
  161.       </geometry>
  162.       <material name="gray"/>
  163.     </visual>
  164.     <collision>
  165.       <geometry>
  166.         <box size="0.032 0.063 0.025"/>
  167.       </geometry>
  168.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  169.     </collision>
  170.     <inertial>
  171.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  172.       <mass value="0.004"/>
  173.       <inertia ixx="1.53133333333e-06" ixy="0.0" ixz="0.0" iyy="5.49666666667e-07" iyz="0.0" izz="1.66433333333e-06"/>
  174.     </inertial>
  175.   </link>
  176.   <joint name="rcx_to_rear_subchassis" type="fixed">
  177.     <parent link="rcx_link"/>
  178.     <child link="subchassis_rear"/>
  179.     <origin xyz="-0.032 0.0 -0.03"/>
  180.   </joint>
  181.   <link name="motor_link">
  182.     <visual>
  183.       <geometry>
  184.         <box size="0.032 0.063 0.025"/>
  185.       </geometry>
  186.       <material name="darkgray">
  187.         <color rgba="0.3 0.3 0.3 1"/>
  188.       </material>
  189.     </visual>
  190.     <collision>
  191.       <geometry>
  192.         <box size="0.032 0.063 0.025"/>
  193.       </geometry>
  194.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  195.     </collision>
  196.     <inertial>
  197.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  198.       <mass value="0.088"/>
  199.       <inertia ixx="3.36893333333e-05" ixy="0.0" ixz="0.0" iyy="1.20926666667e-05" iyz="0.0" izz="3.66153333333e-05"/>
  200.     </inertial>
  201.   </link>
  202.   <joint name="rcx_to_motor" type="fixed">
  203.     <parent link="rcx_link"/>
  204.     <child link="motor_link"/>
  205.     <origin xyz="0.0 0.0 -0.03"/>
  206.   </joint>
  207.   <link name="skidplate_front">
  208.     <visual>
  209.       <geometry>
  210.         <sphere radius="0.008"/>
  211.       </geometry>
  212.       <material name="blue">
  213.         <color rgba="0 0 1 1"/>
  214.       </material>
  215.     </visual>
  216.     <collision>
  217.       <geometry>
  218.         <sphere radius="0.008"/>
  219.       </geometry>
  220.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  221.     </collision>
  222.     <inertial>
  223.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  224.       <mass value="0.0001"/>
  225.       <inertia ixx="2.56e-09" ixy="0.0" ixz="0.0" iyy="2.56e-09" iyz="0.0" izz="2.56e-09"/>
  226.     </inertial>
  227.   </link>
  228.   <joint name="skidplate_front_chassis" type="fixed">
  229.     <parent link="subchassis_front"/>
  230.     <child link="skidplate_front"/>
  231.     <origin xyz="0.008         0.0     -0.016"/>
  232.   </joint>
  233.   <link name="skidplate_rear">
  234.     <visual>
  235.       <geometry>
  236.         <sphere radius="0.008"/>
  237.       </geometry>
  238.       <material name="black"/>
  239.     </visual>
  240.     <collision>
  241.       <geometry>
  242.         <sphere radius="0.008"/>
  243.       </geometry>
  244.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  245.     </collision>
  246.     <inertial>
  247.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  248.       <mass value="0.0001"/>
  249.       <inertia ixx="2.56e-09" ixy="0.0" ixz="0.0" iyy="2.56e-09" iyz="0.0" izz="2.56e-09"/>
  250.     </inertial>
  251.   </link>
  252.   <joint name="skidplate_rear_chassis" type="fixed">
  253.     <parent link="subchassis_rear"/>
  254.     <child link="skidplate_rear"/>
  255.     <origin xyz="-0.008      0.0     -0.016"/>
  256.   </joint>
  257.   <link name="turret_link">
  258.     <visual>
  259.       <geometry>
  260.         <box size="0.032 0.032 0.005"/>
  261.       </geometry>
  262.       <material name="darkgray"/>
  263.     </visual>
  264.     <collision>
  265.       <geometry>
  266.         <box size="0.032 0.032 0.005"/>
  267.       </geometry>
  268.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  269.     </collision>
  270.     <inertial>
  271.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  272.       <mass value="0.004"/>
  273.       <inertia ixx="3.49666666667e-07" ixy="0.0" ixz="0.0" iyy="3.49666666667e-07" iyz="0.0" izz="6.82666666667e-07"/>
  274.     </inertial>
  275.   </link>
  276.   <joint name="rcx_to_turret" type="fixed">
  277.     <parent link="rcx_link"/>
  278.     <child link="turret_link"/>
  279.     <origin xyz="0.0            0.0           0.02"/>
  280.   </joint>
  281.   <!-- Attach Two Wheels to Chassis Assembly at Motor -->
  282.   <link name="wheel_left">
  283.     <visual>
  284.       <geometry>
  285.         <cylinder length="0.01" radius="0.021"/>
  286.       </geometry>
  287.       <origin rpy="1.57079632679 0 0"/>
  288.       <material name="black"/>
  289.     </visual>
  290.     <collision>
  291.       <geometry>
  292.         <cylinder length="0.01" radius="0.021"/>
  293.       </geometry>
  294.       <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
  295.     </collision>
  296.     <inertial>
  297.       <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
  298.       <mass value="0.009"/>
  299.       <inertia ixx="1.06725e-06" ixy="0.0" ixz="0.0" iyy="1.06725e-06" iyz="0.0" izz="1.9845e-06"/>
  300.     </inertial>
  301.   </link>
  302.   <joint name="motor_to_wheelleft" type="continuous">
  303.     <parent link="motor_link"/>
  304.     <child link="wheel_left"/>
  305.     <origin xyz="0.0         0.038         -0.005"/>
  306.     <axis xyz="0 1 0"/>
  307.   </joint>
  308.   <link name="wheel_right">
  309.     <visual>
  310.       <geometry>
  311.         <cylinder length="0.01" radius="0.021"/>
  312.       </geometry>
  313.       <origin rpy="1.57079632679 0 0"/>
  314.       <material name="black">
  315.         <color rgba="0 0 0 1"/>
  316.       </material>
  317.     </visual>
  318.     <collision>
  319.       <geometry>
  320.         <cylinder length="0.01" radius="0.021"/>
  321.       </geometry>
  322.       <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
  323.     </collision>
  324.     <inertial>
  325.       <origin rpy="1.57079632679 0 0" xyz=" 0 0 0"/>
  326.       <mass value="0.009"/>
  327.       <inertia ixx="1.06725e-06" ixy="0.0" ixz="0.0" iyy="1.06725e-06" iyz="0.0" izz="1.9845e-06"/>
  328.     </inertial>
  329.   </link>
  330.   <joint name="motor_to_wheelright" type="continuous">
  331.     <parent link="motor_link"/>
  332.     <child link="wheel_right"/>
  333.     <origin xyz="0.0       -0.038       -0.005"/>
  334.     <axis xyz="0 1 0"/>
  335.   </joint>
  336.   <!-- Attach Pendulum to top of RCX Chassis Assembly -->
  337.   <link name="rod_link">
  338.     <visual>
  339.       <geometry>
  340.         <cylinder length="0.095" radius="0.0025"/>
  341.       </geometry>
  342.       <origin xyz="0 0 0.0475"/>
  343.       <material name="gray"/>
  344.     </visual>
  345.     <collision>
  346.       <geometry>
  347.         <cylinder length="0.095" radius="0.0025"/>
  348.       </geometry>
  349.       <origin rpy=" 0 0 0" xyz="0 0 0.0475"/>
  350.     </collision>
  351.     <inertial>
  352.       <origin rpy=" 0 0 0" xyz="0 0 0.0475"/>
  353.       <mass value="0.004"/>
  354.       <inertia ixx="3.01458333333e-06" ixy="0.0" ixz="0.0" iyy="3.01458333333e-06" iyz="0.0" izz="1.25e-08"/>
  355.     </inertial>
  356.   </link>
  357.   <joint name="turret_to_rod" type="revolute">
  358.     <parent link="turret_link"/>
  359.     <child link="rod_link"/>
  360.     <axis xyz="0 1 0"/>
  361.     <limit effort="1000.0" lower="-1.62" upper="1.62" velocity="0.5"/>
  362.     <origin xyz="0.0            0.0           0.00625"/>
  363.   </joint>
  364.   <link name="bob_link">
  365.     <visual>
  366.       <geometry>
  367.         <sphere radius="0.01"/>
  368.       </geometry>
  369.       <material name="black"/>
  370.     </visual>
  371.     <collision>
  372.       <geometry>
  373.         <sphere radius="0.01"/>
  374.       </geometry>
  375.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  376.     </collision>
  377.     <inertial>
  378.       <origin rpy=" 0 0 0" xyz=" 0 0 0"/>
  379.       <mass value="0.004"/>
  380.       <inertia ixx="1.6e-07" ixy="0.0" ixz="0.0" iyy="1.6e-07" iyz="0.0" izz="1.6e-07"/>
  381.     </inertial>
  382.   </link>
  383.   <joint name="rod_to_bob" type="fixed">
  384.     <parent link="rod_link"/>
  385.     <child link="bob_link"/>
  386.     <origin xyz="0.0 0.0 0.095"/>
  387.   </joint>
  388.   <!--
  389.  <transmission name="tran0">
  390.    <type>transmission_interface/SimpleTransmission</type>
  391.    <joint name="turret_to_rod">
  392.      <hardwareInterface>PositionJointInterface</hardwareInterface>
  393.    </joint>
  394.    <actuator name="motor0">
  395.      <hardwareInterface>PositionJointInterface</hardwareInterface>
  396.      <mechanicalReduction>1</mechanicalReduction>
  397.    </actuator>
  398.  </transmission>
  399.  
  400. -->
  401. </robot>
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