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add：添加了实车模式，未验证

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陌欢醉
2026-06-06 20:32:07 +08:00
parent 30a9b2bd2d
commit b44f0c1909
71 changed files with 6113 additions and 5 deletions
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10
src/origincar_description/urdf/origincar.urdf
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@@ -83,7 +83,7 @@
</inertial>
</link>
<joint name="fr_left_steer_joint" type="revolute">
<origin xyz="0.0841 0.0945 -0.03" rpy="0 0 0" />
<origin xyz="0.0715 0.0945 -0.03" rpy="0 0 0" />
<parent link="chassis_link" />
<child link="fr_left_steer_link" />
<axis xyz="0 0 1" />
@@ -136,7 +136,7 @@
</inertial>
</link>
<joint name="fr_right_steer_joint" type="revolute">
<origin xyz="0.0841 -0.0945 -0.03" rpy="0 0 0" />
<origin xyz="0.0715 -0.0945 -0.03" rpy="0 0 0" />
<parent link="chassis_link" />
<child link="fr_right_steer_link" />
<axis xyz="0 0 1" />
@@ -205,7 +205,7 @@
</collision>
</link>
<joint name="re_left_wheel_joint" type="continuous">
<origin xyz="-0.0841 0.0945 -0.03" rpy="1.5708 0 0" />
<origin xyz="-0.0715 0.0945 -0.03" rpy="1.5708 0 0" />
<parent link="chassis_link" />
<child link="re_left_wheel_link" />
<axis xyz="0 0 -1" />
@@ -239,7 +239,7 @@
</collision>
</link>
<joint name="re_right_wheel_joint" type="continuous">
<origin xyz="-0.0841 -0.0945 -0.03" rpy="-1.5708 0 0" />
<origin xyz="-0.0715 -0.0945 -0.03" rpy="-1.5708 0 0" />
<parent link="chassis_link" />
<child link="re_right_wheel_link" />
<axis xyz="0 0 1" />
@@ -265,7 +265,7 @@
</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" />
<origin xyz="0.0715 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" />