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修改小车尺寸适配正常比赛

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陌欢醉
2026-06-06 14:28:49 +08:00
parent 4e49f7f981
commit f4944aa29c
1 changed files with 4 additions and 30 deletions
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34
src/origincar_description/urdf/origincar.urdf
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@@ -5,7 +5,6 @@
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
</link> </link>
<link name="base_link"> <link name="base_link">
<origin xyz="0 0 0" rpy="0 0 0" />
</link> </link>
<joint name="base_joint" type="fixed"> <joint name="base_joint" type="fixed">
<parent link="base_footprint" /> <parent link="base_footprint" />
@@ -122,7 +121,7 @@
<parent link="fr_left_steer_link" /> <parent link="fr_left_steer_link" />
<child link="fr_left_wheel_link" /> <child link="fr_left_wheel_link" />
<axis xyz="0 0 -1" /> <axis xyz="0 0 -1" />
<dynamics friction="0.0" damping="0.01" /> <dynamics friction="0.2" damping="0.12" />
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" /> <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
</joint> </joint>
<link name="fr_right_steer_link"> <link name="fr_right_steer_link">
@@ -174,7 +173,7 @@
<parent link="fr_right_steer_link" /> <parent link="fr_right_steer_link" />
<child link="fr_right_wheel_link" /> <child link="fr_right_wheel_link" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<dynamics friction="0.0" damping="0.01" /> <dynamics friction="0.2" damping="0.12" />
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" /> <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
</joint> </joint>
@@ -210,7 +209,7 @@
<parent link="chassis_link" /> <parent link="chassis_link" />
<child link="re_left_wheel_link" /> <child link="re_left_wheel_link" />
<axis xyz="0 0 -1" /> <axis xyz="0 0 -1" />
<dynamics friction="0.0" damping="0.01" /> <dynamics friction="0.2" damping="0.12" />
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" /> <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
</joint> </joint>
<link name="re_right_wheel_link"> <link name="re_right_wheel_link">
@@ -244,7 +243,7 @@
<parent link="chassis_link" /> <parent link="chassis_link" />
<child link="re_right_wheel_link" /> <child link="re_right_wheel_link" />
<axis xyz="0 0 1" /> <axis xyz="0 0 1" />
<dynamics friction="0.0" damping="0.01" /> <dynamics friction="0.2" damping="0.1" />
<limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" /> <limit lower="-3.14159" upper="3.14159" effort="100" velocity="-200" />
</joint> </joint>
@@ -311,25 +310,6 @@
<origin rpy="0 0 0" xyz="0 0 0.045" /> <origin rpy="0 0 0" xyz="0 0 0.045" />
</joint> </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 --> <!-- ackerman -->
<gazebo> <gazebo>
@@ -378,12 +358,6 @@
<joint_name>re_right_wheel_joint</joint_name> <joint_name>re_right_wheel_joint</joint_name>
<joint_name>re_left_wheel_joint</joint_name> <joint_name>re_left_wheel_joint</joint_name>
<joint_name>virtual_steering_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> </plugin>
</gazebo> </gazebo>