macros_evt1

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="evt1">

  <xacro:macro name="origin_base">
            <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
  </xacro:macro>



    <xacro:property name="kd" value="10000000.0" />
    <xacro:property name="kp" value="00.0"/>

  <!-- WHEELS MACRO -->
    <xacro:macro name="wheel" params="rpy xyz name">

        <xacro:macro name="origin_wheel">
            <origin rpy="${rpy}" xyz="${xyz}"/>
        </xacro:macro>

        <link name="wheel_${name}_link">
            <inertial>
                <xacro:origin_base />
                <mass value="${wheel_mass}" />
                <inertia ixx="0.0016" ixy="0" ixz="0" iyy="0.0016" iyz="0" izz="0.003" /><!-- Good value of inertia -->
                <!--<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />-->
            </inertial>

            <collision>
                <xacro:origin_base />
                <geometry>
                    <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
                </geometry>
            </collision>

            <visual>
                <xacro:origin_base />
                <geometry>
                        <cylinder radius="${wheel_radius}" length="${wheel_length}"/>
                </geometry>
                <material name="green"/>
            </visual>
        </link>

        <joint name="wheel_${name}_joint" type="continuous">
            <parent link="wheel_axe"/>
            <child link="wheel_${name}_link"/>
            <xacro:origin_wheel />
            <limit effort="2000" velocity="200.0" />
            <axis xyz="0 0 1"/>
        </joint>

        <gazebo reference="wheel_${name}_link">
            <mu1 value="30.5"/>
            <mu2 value="2.5"/>
            <kp value="${kd}" />
            <kd value="${kp}" />
        </gazebo>

        <!-- transmission -->
        <transmission name="wheel_${name}_transmission">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="wheel_${name}_joint">
                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            </joint>
            <actuator name="wheel_${name}_motor">
                <hardwareInterface>VelocityJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>
    </xacro:macro>


  <!-- CASTER WHEELS MACRO -->
    <xacro:macro name="caster_wheel" params="rpy xyz name">

        <xacro:macro name="caster_origin_wheel">
            <origin rpy="${rpy}" xyz="${xyz}"/>
        </xacro:macro>

        <link name="caster_wheel_${name}_link">
            <inertial>
                <xacro:origin_base />
                <mass value="${caster_wheel_mass}" />
                <inertia ixx="1.40041666667e-05" ixy="0" ixz="0" iyy="1.40041666667e-05" iyz="0" izz="2.56e-05" />
            </inertial>

            <collision>
                <xacro:origin_base />
                <geometry>
                    <cylinder radius="${caster_wheel_radius}" length="${caster_wheel_length}"/>
                </geometry>
            </collision>

            <visual>
                <xacro:origin_base />
                <geometry>
                        <cylinder radius="${caster_wheel_radius}" length="${caster_wheel_length}"/>
                </geometry>
                <material name="green"/>
            </visual>
        </link>

        <link name="caster_${name}_attach_link">
            <visual>
                <xacro:origin_base />
                <geometry>
                        <cylinder radius="0.005" length="0.05"/>
                </geometry>
                <material name="green"/>
            </visual>

            <inertial>
                <xacro:origin_base />
                <mass value="${caster_wheel_mass}" />
                <inertia ixx="1.40041666667e-05" ixy="0" ixz="0" iyy="1.40041666667e-05" iyz="0" izz="2.56e-05" />
            </inertial>
        </link>

        <joint name="caster_wheel_${name}_joint_y" type="continuous">
            <parent link="base_footprint"/>
            <child link="caster_${name}_attach_link"/>
            <xacro:caster_origin_wheel />
            <!--<limit lower="-0.2" upper="0.2" effort="100" velocity="100"/>-->
            <axis xyz="0 1 0"/>
            <dynamics friction="0.03"/>
        </joint>
        <joint name="caster_wheel_${name}_joint" type="continuous">
            <parent link="caster_${name}_attach_link"/>
            <child link="caster_wheel_${name}_link"/>
            <axis xyz="0 0 1"/>
            <dynamics friction="0.03"/>
            <origin xyz="0 0 0" rpy="0 0 0" />
        </joint>



        <gazebo reference="caster_wheel_${name}_link">
            <mu1>1.5</mu1>
            <mu2>1.5</mu2>
            <kp>5000000.0</kp>
            <kd>10.0</kd>
            <minDepth>0.001</minDepth>
            <maxVel>0.1</maxVel>
            <fdir1>1 0 0</fdir1>
            <dynamics friction="0.05" />
            <material>Gazebo/FlatGreen</material>
        </gazebo>

    </xacro:macro>

    <xacro:macro name="sphere_" params="name xyz">
        <xacro:macro name="origin_sphere">
            <origin rpy="0 0 0" xyz="${xyz}"/>
        </xacro:macro>
        <link name="sphere_link_${name}">
            <inertial>
            <xacro:origin_base/>
            <mass value="${boule_mass}"/>
            <inertia ixx="0.0002835" ixy="0.0" ixz="0.0" iyy="0.0002835" iyz="0.0" izz="0.000324"/>
            </inertial>
                <collision>
                <xacro:origin_base />
                    <geometry>
                    <sphere radius="${boule_size}"/>
                    </geometry>
                </collision>
                <visual>
                <xacro:origin_base />
                <geometry>
                    <sphere radius="${boule_size}"/>
                </geometry>
                <material name="blue"/>
                </visual>
        </link>
        <gazebo reference="sphere_link_${name}">
        <kp>10e20</kp>
        <kd>1.0</kd>
        <mu1>0.2</mu1>
        <mu2>0.1</mu2>
        <maxContacts>1</maxContacts>
        <maxVel>0.0</maxVel>
        <min_depth>0.001</min_depth>
        </gazebo>
        <xacro:macro name="junta_model" params="name parent child">
            <joint name="${name}_joint_y" type="continuous">
                <xacro:origin_sphere />
                <parent link="${parent}"/>
                <child link="${name}_junta1"/>
                <axis xyz="0 1 0" />
                <dynamics friction="0.06"/> <!--Ajout de friction pour pas que ca tourne a l'infini -->
            </joint>

            <link name="${name}_junta1">
                <inertial>
                    <mass value="0.025" />
                    <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
                </inertial>
            </link>

            <joint name="${name}_joint_z" type="continuous">
                <parent link="${name}_junta1"/>
                <child link="${name}_junta2"/>
                <axis xyz="0 0 1" />
                <dynamics friction="0.06"/>
            </joint>

            <link name="${name}_junta2">
                <inertial>
                    <mass value="0.025" />
                    <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
                </inertial>
            </link>

            <joint name="${name}_joint_x" type="continuous">
                <parent link="${name}_junta2"/>
                <child link="${name}_junta3"/>
                <axis xyz="1 0 0" />
                <dynamics friction="0.06"/>
            </joint>

            <link name="${name}_junta3">
                <inertial>
                    <mass value="0.025" />
                    <inertia ixx="5.8083e-4" ixy="0" ixz="0" iyy="3.0833e-5" iyz="0" izz="5.9083e-4" />
                </inertial>
            </link>

            <joint name="${name}_jointfixed" type="fixed">
                <parent link="${name}_junta3"/>
                <child link="${child}"/>
            </joint>
        </xacro:macro>

        <xacro:junta_model name="sphere_${name}" parent="base_link" child="sphere_link_${name}"/>
    </xacro:macro>

    <xacro:macro name="caster_sans_contact" params="name xyz">
        <!--Caster back  -->
        <link name="caster_${name}_link">
            <visual>
            <origin rpy="1.57079632679 0 0" xyz="0.0 0.0 0 "/>
            <geometry>
                <sphere radius="${radius_caster}"/>
            </geometry>
            <material name="Black"/>
            </visual>
            <collision>
            <geometry>
                <sphere radius="${radius_caster}"/>
            </geometry>
            <origin rpy="1.57079632679 0 0" xyz="0 0.0 0 "/>
            </collision>
            <inertial>
            <mass value="${caster_mass}"/>
            <origin xyz="0 0 0"/>
            <inertia ixx="0.00048" ixy="0.0" ixz="0.0" iyy="0.00048" iyz="0.0" izz="0.00048"/>
            </inertial>
        </link>
        <joint name="caster_${name}_joint" type="fixed">
            <parent link="base_footprint"/>
            <child link="caster_${name}_link"/>
            <origin rpy="-1.57079632679 0 0" xyz="${xyz}"/>
        </joint>
        <gazebo reference="caster_${name}_link">
            <turnGravityOff>false</turnGravityOff>
            <mu>0.0</mu>
            <mu2>0.0</mu2>
            <kp value="${kd}" />
            <kd value="${kp}" />
        </gazebo>
    </xacro:macro>
<!---->
</robot>