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common_macros.urdf.xacro
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common_macros.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="set_environment" params="package_name:='mobile_robot_description' ">
<xacro:property name="package_name" value="${package_name}" scope="global"/>
</xacro:macro>
<!--Wheel link & joint macro-->
<xacro:macro name="wheel"
params="prefix reflect wheel_props base_props mesh:='' ">
<xacro:property name="pos_x_joint"
value="${(base_props['base']['x_size']/2) - wheel_props['wheel']['x_offset']}"/>
<xacro:property name="pos_y_joint"
value="${(base_props['base']['y_size']/2) + wheel_props['wheel']['y_offset'] + (wheel_props['wheel']['length']/2)}"/>
<xacro:property name="pos_z_joint" value="${wheel_props['wheel']['z_offset']}"/>
<link name="${prefix}_wheel">
<xacro:if value="${mesh != '' }" >
<visual>
<origin xyz="0.0 0 0" rpy="${pi/2} 0 ${pi/2.0*(reflect - 1)}"/>
<geometry>
<mesh filename="package://${package_name}/meshes/${robot_name}/${mesh}" />
</geometry>
</visual>
</xacro:if>
<xacro:if value="${mesh == '' }" >
<visual>
<origin xyz="0.0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_props['wheel']['radius']}" length="${wheel_props['wheel']['length']}"/>
</geometry>
<material name="red"/>
</visual>
</xacro:if>
<collision>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_props['wheel']['radius']}" length="${wheel_props['wheel']['length']}"/>
</geometry>
</collision>
<xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}"
r="${wheel_props['wheel']['radius']}"
l="${wheel_props['wheel']['length']}">
</xacro:cylinder_inertia>
</link>
<joint name="${prefix}_wheel_joint" type="continuous">
<axis xyz="0 1 0" rpy="0 0 0" />
<parent link="base_link"/>
<child link="${prefix}_wheel"/>
<origin xyz="${pos_x_joint} ${reflect* pos_y_joint} ${pos_z_joint}" rpy="0 0 0"/>
</joint>
</xacro:macro>
<!-- Caster wheel link & joint macro -->
<!-- locationprefix locationright wheel_base_dx TODO remove -->
<xacro:macro name="caster_wheel"
params="prefix reflect wheel_props locationright:=${0} ">
<!-- caster base (fixed) -->
<link name="${prefix}_caster_base_link">
<inertial>
<origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
<mass value="${wheel_props['base']['mass']}" />
<xacro:box_inertia m="${wheel_props['base']['mass']}"
x="${wheel_props['base']['size']['x']}"
y="${wheel_props['base']['size']['y']}"
z="${wheel_props['base']['size']['z']}" />
</inertial>
<xacro:if value="${wheel_props['base']['mass'] != '' }" >
<visual>
<origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/${robot_name}/${wheel_props['base']['mesh']}" />
</geometry>
<!-- xacro:insert_block name="material_silver" / TODO use this block? -->
<material name="silver"/>
</visual>
</xacro:if>
<xacro:if value="${wheel_props['base']['mass'] == '' }" >
<visual>
<origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<box size="${wheel_props['base']['size']['x']} ${wheel_props['base']['size']['y']} ${wheel_props['base']['size']['z']}" />
</geometry>
<material name="red"/>
</visual>
</xacro:if>
<collision>
<origin xyz="0 0 ${-wheel_props['base']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<box size="${wheel_props['base']['size']['x']} ${wheel_props['base']['size']['y']} ${wheel_props['base']['size']['z']}" />
</geometry>
</collision>
</link>
<joint name="${prefix}_caster_base_joint" type="fixed">
<origin xyz="${wheel_props['base']['dx']} ${-wheel_props['base']['dy'] * locationright} ${wheel_props['base']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="${prefix}_caster_base_link" />
<axis xyz="0 0 1" />
<dynamics damping="0.01" friction="0.0"/>
</joint>
<gazebo reference="${prefix}_caster_base_link">
<material>Gazebo/Grey</material>
</gazebo>
<!-- caster hub -->
<link name="${prefix}_caster_rotation_link">
<inertial>
<origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
<mass value="${wheel_props['hub']['mass']}" />
<xacro:box_inertia m="${wheel_props['hub']['mass']}"
x="${wheel_props['hub']['size']['x']}"
y="${wheel_props['hub']['size']['y']}"
z="${wheel_props['hub']['size']['z']}" />
</inertial>
<xacro:if value="${wheel_props['hub']['mesh'] != '' }" >
<visual>
<origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/${robot_name}/${wheel_props['hub']['mesh']}" />
</geometry>
<!-- xacro:insert_block name="material_silver" / TODO use this block? -->
<material name="silver"/>
</visual>
</xacro:if>
<xacro:if value="${wheel_props['hub']['mesh'] == '' }" >
<visual>
<origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<box size="${wheel_props['hub']['size']['x']} ${wheel_props['hub']['size']['y']} ${wheel_props['hub']['size']['z']}" />
</geometry>
<material name="red"/>
</visual>
</xacro:if>
<collision>
<origin xyz="0 0 ${-wheel_props['hub']['size']['z']/2.0}" rpy="0 0 0" />
<geometry>
<box size="${wheel_props['hub']['size']['x']} ${wheel_props['hub']['size']['y']} ${wheel_props['hub']['size']['z']}" />
</geometry>
</collision>
</link>
<joint name="${prefix}_caster_rotation_joint" type="continuous">
<origin xyz="${wheel_props['hub']['dx']} ${-wheel_props['hub']['dy'] * locationright} ${wheel_props['hub']['dz']}"
rpy="0 0 0" />
<parent link="base_link" />
<child link="${prefix}_caster_rotation_link" />
<axis xyz="0 0 1" />
<dynamics damping="0.01" friction="0.0"/>
</joint>
<gazebo reference="${prefix}_caster_rotation_link">
<material>Gazebo/Grey</material>
</gazebo>
<!-- caster wheel -->
<link name="${prefix}_caster_wheel_link">
<xacro:cylinder_inertia m="${wheel_props['wheel']['mass']}"
r="${wheel_props['wheel']['radius']}"
l="${wheel_props['wheel']['length']}">
<!-- TODO unused block error?: origin xyz="0 0 0" rpy="${pi/2} 0 0" /-->
</xacro:cylinder_inertia>
<xacro:if value="${wheel_props['wheel']['mesh'] != '' }" >
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/${robot_name}/${wheel_props['wheel']['mesh']}" />
</geometry>
<!-- TODO use this?: xacro:insert_block name="material_dark_grey" /-->
<material name="material_dark_grey"/>
</visual>
</xacro:if>
<xacro:if value="${wheel_props['wheel']['mesh'] == '' }" >
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
<geometry>
<cylinder length="${wheel_props['wheel']['length']}" radius="${wheel_props['wheel']['radius']}" />
</geometry>
<material name="red"/>
</visual>
</xacro:if>
<collision>
<origin xyz="0 0 0" rpy="${pi/2} 0 0" />
<geometry>
<cylinder length="${wheel_props['wheel']['length']}" radius="${wheel_props['wheel']['radius']}" />
</geometry>
</collision>
</link>
<joint name="${prefix}_caster_wheel_joint" type="continuous">
<origin xyz="${wheel_props['wheel']['dx']} ${-wheel_props['wheel']['dy'] * locationright} ${wheel_props['wheel']['dz']}"
rpy="0 0 0" />
<parent link="${prefix}_caster_rotation_link" />
<child link="${prefix}_caster_wheel_link" />
<axis xyz="0 1 0" />
</joint>
<gazebo reference="${prefix}_caster_wheel_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
</xacro:macro>
<!--Base macro-->
<xacro:macro name="base"
params="base_prop mesh:='' *origin ">
<link name="base_link">
<xacro:box_inertia m="${base_prop['base']['mass']}"
x="${base_prop['base']['x_size']}"
y="${base_prop['base']['y_size']}"
z="${base_prop['base']['z_size']}">
</xacro:box_inertia>
<xacro:if value="${mesh != '' }" >
<visual>
<xacro:insert_block name="origin" />
<geometry>
<!-- The folder path get a folder_name global parameter -->
<<<<<<< HEAD
<mesh filename="package://${package_name}/meshes/${mesh}" />
=======
<mesh filename="package://${package_name}/meshes/${robot_name}/${mesh}" />
>>>>>>> 9360dda1a6d989eecddd3a32787117e0e6d87a18
</geometry>
<material name="white" />
</visual>
</xacro:if>
<xacro:if value="${mesh == '' }" >
<visual>
<xacro:insert_block name="origin" />
<geometry>
<box size="${base_prop['base']['x_size']} ${base_prop['base']['y_size']} ${base_prop['base']['z_size']}"/>
</geometry>
<material name="white" />
</visual>
</xacro:if>
<collision>
<geometry>
<box size="${base_prop['base']['x_size']} ${base_prop['base']['y_size']} ${base_prop['base']['z_size']}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<!--Intertial macros-->
<xacro:macro name="cylinder_inertia" params="m r l">
<inertial>
<mass value="${m}"/>
<inertia ixx="${m*(3*r*r+l*l)/12}" ixy = "0" ixz = "0"
iyy="${m*(3*r*r+l*l)/12}" iyz = "0" izz="${m*r*r/2}"/>
</inertial>
</xacro:macro>
<xacro:macro name="box_inertia" params="m x y z">
<inertial>
<mass value="${m}"/>
<inertia ixx="${m / 12.0 * (y*y + z*z)}" ixy="0.0" ixz="0.0"
iyy="${m / 12.0 * (x*x + z*z)}" iyz="0.0"
izz="${m / 12.0 * (x*x + y*y)}"/>
</inertial>
</xacro:macro>
<xacro:macro name="sphere_inertia" params="m r">
<inertial>
<mass value="${m}"/>
<inertia ixx="${2.0*m*(r*r)/5.0}" ixy="0.0" ixz="0.0" iyy="${2.0*m*(r*r)/5.0}" iyz="0.0" izz="${2.0*m*(r*r)/5.0}"/>
</inertial>
</xacro:macro>
<xacro:macro name="default_inertial" params="mass">
<inertial>
<mass value="${mass}"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</xacro:macro>
<!--Color Properties-->
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="silver">
<color rgba="0.79 0.82 0.93 1"/>
</material>
<material name="material_dark_grey">
<color rgba="0.3 0.3 0.3 1"/>
</material>
<!-- TODO use this?: xacro:property name="material_silver">
<material name="silver">
<color rgba="0.79 0.82 0.93 1" />
</material>
</xacro:property-->
</robot>