forked from zbw/yiliao2026
a
This commit is contained in:
mohuanzui
497
src/origincar_description/urdf/origincar.urdf
Normal file
497
src/origincar_description/urdf/origincar.urdf
Normal file
@@ -0,0 +1,497 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="mycar">
|
||||
|
||||
<link name="base_footprint">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</link>
|
||||
<link name="base_link">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
</link>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint" />
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0.0 -0.09" rpy="0 0 0" />
|
||||
</joint>
|
||||
<link name="chassis_link">
|
||||
<inertial>
|
||||
<origin xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029" rpy="0 0 0" />
|
||||
<mass value="12" />
|
||||
<inertia ixx="2.0833333333333335"
|
||||
ixy="0" ixz="0"
|
||||
iyy="11.979166666666668" iyz="0"
|
||||
izz="11.979166666666668" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.276 0.164 0.08" />
|
||||
</geometry>
|
||||
<material name="base_color">
|
||||
<color rgba="0.4 0.039 0.039 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.07" />
|
||||
<geometry>
|
||||
<box size="0.276 0.164 0.08" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="chassis_joint" type="fixed">
|
||||
<parent link="base_link" />
|
||||
<child link="chassis_link" />
|
||||
<origin xyz="0 0.0 0.1555" rpy="0 0 0" />
|
||||
</joint>
|
||||
<link name="borad_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="12" />
|
||||
<inertia ixx="2.0833333333333335"
|
||||
ixy="0" ixz="0"
|
||||
iyy="11.979166666666668" iyz="0"
|
||||
izz="11.979166666666668" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.200 0.164 0.07" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0" />
|
||||
<material name="rgba(246,152,152,1)">
|
||||
<color rgba="0.9647058823529412 0.596078431372549 0.596078431372549 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.200 0.164 0.07" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="board_joint" type="fixed">
|
||||
<parent link="chassis_link" />
|
||||
<child link="borad_link" />
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075" />
|
||||
</joint>
|
||||
<link name="fr_left_steer_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.01" />
|
||||
<inertia
|
||||
ixx="9.880333333333333E-5"
|
||||
ixy="0" ixz="0"
|
||||
iyy="9.880333333333333E-5"
|
||||
iyz="0" izz="9.8E-5" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="fr_left_steer_joint" type="revolute">
|
||||
<origin xyz="0.0841 0.0945 -0.03" rpy="0 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="fr_left_steer_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
|
||||
</joint>
|
||||
|
||||
<link name="fr_left_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fr_left_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 0" rpy="1.5708 0 0" />
|
||||
<parent link="fr_left_steer_link" />
|
||||
<child link="fr_left_wheel_link" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<dynamics friction="0.0" damping="0.01" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
<link name="fr_right_steer_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="0.01" />
|
||||
<inertia
|
||||
ixx="9.880333333333333E-5"
|
||||
ixy="0" ixz="0"
|
||||
iyy="9.880333333333333E-5"
|
||||
iyz="0" izz="9.8E-5" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="fr_right_steer_joint" type="revolute">
|
||||
<origin xyz="0.0841 -0.0945 -0.03" rpy="0 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="fr_right_steer_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<limit upper="0.6" lower="-0.6" effort="-1.0" velocity="-20.0" />
|
||||
</joint>
|
||||
<link name="fr_right_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fr_right_wheel_joint" type="continuous">
|
||||
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
|
||||
<parent link="fr_right_steer_link" />
|
||||
<child link="fr_right_wheel_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<dynamics friction="0.0" damping="0.01" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="re_left_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.37647 0.37647 0.37647 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="re_left_wheel_joint" type="continuous">
|
||||
<origin xyz="-0.0841 0.0945 -0.03" rpy="1.5708 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="re_left_wheel_link" />
|
||||
<axis xyz="0 0 -1" />
|
||||
<dynamics friction="0.0" damping="0.01" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
<link name="re_right_wheel_link">
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1.5" />
|
||||
<inertia
|
||||
ixx="0.02964"
|
||||
ixy="0" ixz="0"
|
||||
iyy="0.02964"
|
||||
iyz="0" izz="0.0294" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.37647 0.37647 0.37647 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.025" radius="0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="re_right_wheel_joint" type="continuous">
|
||||
<origin xyz="-0.0841 -0.0945 -0.03" rpy="-1.5708 0 0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="re_right_wheel_link" />
|
||||
<axis xyz="0 0 1" />
|
||||
<dynamics friction="0.0" damping="0.01" />
|
||||
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="virtual_steer_link">
|
||||
<visual>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1.0 1.0 0.0 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<mass value="0.001" />
|
||||
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="virtual_steering_wheel_joint" type="revolute">
|
||||
<origin xyz="0.0841 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||||
<parent link="chassis_link" />
|
||||
<child link="virtual_steer_link" />
|
||||
<axis xyz="-1 0 0" />
|
||||
<limit lower="-3" upper="3" effort="200" velocity="20" />
|
||||
</joint>
|
||||
<!-- **************************** -->
|
||||
<!-- 激光雷达 -->
|
||||
<link name="laser_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder radius="0.025" length="0.05" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.04 0 0" />
|
||||
<material name="rgba(255,255,255,1)">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="laser_joint" type="fixed">
|
||||
<parent link="borad_link" />
|
||||
<child link="laser_link" />
|
||||
<origin rpy="0 0 0" xyz="0.045 0 0.065" />
|
||||
</joint>
|
||||
|
||||
<!-- IMU -->
|
||||
<link name="imu_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.02 0.02 0.02" />
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.01" />
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="borad_link" />
|
||||
<child link="imu_link" />
|
||||
<origin rpy="0 0 0" xyz="0 0 0.045" />
|
||||
</joint>
|
||||
|
||||
<gazebo reference="fr_left_wheel_link">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.2</mu2>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="fr_right_wheel_link">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.2</mu2>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="re_left_wheel_link">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.2</mu2>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="re_right_wheel_link">
|
||||
<mu1>1.1</mu1>
|
||||
<mu2>1.2</mu2>
|
||||
</gazebo>
|
||||
<!-- ackerman -->
|
||||
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_ackermann_drive" filename="libgazebo_ros_ackermann_drive.so">
|
||||
|
||||
<ros>
|
||||
<namespace>/</namespace>
|
||||
<remapping>cmd_vel:=cmd_vel</remapping>
|
||||
<remapping>odom:=odom</remapping>
|
||||
<remapping>distance:=distance</remapping>
|
||||
</ros>
|
||||
<update_rate>30.0</update_rate>
|
||||
<front_left_joint>fr_left_wheel_joint</front_left_joint>
|
||||
<front_right_joint>fr_right_wheel_joint</front_right_joint>
|
||||
<rear_left_joint>re_left_wheel_joint</rear_left_joint>
|
||||
<rear_right_joint>re_right_wheel_joint</rear_right_joint>
|
||||
<left_steering_joint>fr_left_steer_joint</left_steering_joint>
|
||||
<right_steering_joint>fr_right_steer_joint</right_steering_joint>
|
||||
<steering_wheel_joint>virtual_steering_wheel_joint</steering_wheel_joint>
|
||||
<max_steer>0.583972</max_steer>
|
||||
<max_steering_angle>1.570796</max_steering_angle>
|
||||
<max_speed>4</max_speed>
|
||||
|
||||
|
||||
<left_steering_pid_gain>600 0 6</left_steering_pid_gain>
|
||||
<left_steering_i_range>0 0</left_steering_i_range>
|
||||
<right_steering_pid_gain>600 0 6</right_steering_pid_gain>
|
||||
<right_steering_i_range>0 0</right_steering_i_range>
|
||||
<linear_velocity_pid_gain>800 0 0</linear_velocity_pid_gain>
|
||||
<linear_velocity_i_range>0 0</linear_velocity_i_range>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
|
||||
</plugin>
|
||||
|
||||
|
||||
<plugin name="gazebo_ros_joint_state_publisher"
|
||||
filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<update_rate>100</update_rate>
|
||||
<joint_name>fr_right_steer_joint</joint_name>
|
||||
<joint_name>fr_right_wheel_joint</joint_name>
|
||||
<joint_name>fr_left_steer_joint</joint_name>
|
||||
<joint_name>fr_left_wheel_joint</joint_name>
|
||||
<joint_name>re_right_wheel_joint</joint_name>
|
||||
<joint_name>re_left_wheel_joint</joint_name>
|
||||
<joint_name>virtual_steering_wheel_joint</joint_name>
|
||||
<joint_name>base_joint</joint_name>
|
||||
<joint_name>chassis_joint</joint_name>
|
||||
<joint_name>board_joint</joint_name>
|
||||
<joint_name>laser_joint</joint_name>
|
||||
<joint_name>imu_joint</joint_name>
|
||||
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<gazebo reference="imu_link">
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
|
||||
<ros>
|
||||
<namespace>/</namespace>
|
||||
<remapping>~/out:=imu</remapping>
|
||||
</ros>
|
||||
<initial_orientation_as_reference>false</initial_orientation_as_reference>
|
||||
</plugin>
|
||||
<always_on>true</always_on>
|
||||
<update_rate>100</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<imu>
|
||||
<angular_velocity>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</angular_velocity>
|
||||
<linear_acceleration>
|
||||
<x>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</x>
|
||||
<y>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</y>
|
||||
<z>
|
||||
<noise type="gaussian">
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</noise>
|
||||
</z>
|
||||
</linear_acceleration>
|
||||
</imu>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="laser_link">
|
||||
<sensor name="laser_sensor" type="ray">
|
||||
<always_on>true</always_on>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<pose>0 0 0.075 0 0 0</pose>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1.000000</resolution>
|
||||
<min_angle>0.000000</min_angle>
|
||||
<max_angle>6.280000</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120000</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015000</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
|
||||
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||
<ros>
|
||||
|
||||
<remapping>~/out:=scan</remapping>
|
||||
</ros>
|
||||
<output_type>sensor_msgs/LaserScan</output_type>
|
||||
<frame_name>laser_link</frame_name>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user