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atrv.urdf
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atrv.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from atrv.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="atrv" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="base_link">
<visual>
<geometry>
<box size="0.64 0.39 .22"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.64 0.39 .22"/>
</geometry>
</collision>
</link>
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="top_cover">
<visual>
<geometry>
<box size="0.64 0.39 .25"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.64 0.39 .25"/>
</geometry>
</collision>
</link>
<joint name="base_to_top_cover" type="fixed">
<parent link="base_link"/>
<child link="top_cover"/>
<origin xyz="0 0 .1"/>
</joint>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.150"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<!-- note front => fb = 1, left => lr = 1 -->
<link name="front_left_wheel">
<visual>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
</collision>
</link>
<joint name="base_to_front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel"/>
<axis xyz="0 0 -1"/>
<origin rpy="1.57075 0 0" xyz="0.19 0.25 -.05"/>
<limit effort="5.0" velocity="5.0"/>
<joint_properties damping="2.0" friction="{steer_joint_friction}"/>
</joint>
<transmission name="front_left_joint_wheel_steer_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="$base_to_front_left_wheel"/>
<actuator name="front_left_joint_wheel_steer_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>100.0</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</actuator>
</transmission>
<!-- note front => fb = 1, left => lr = 1 -->
<link name="front_right_wheel">
<visual>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
</collision>
</link>
<joint name="base_to_front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel"/>
<axis xyz="0 0 -1"/>
<origin rpy="1.57075 0 0" xyz="0.19 -0.25 -.05"/>
<limit effort="5.0" velocity="5.0"/>
<joint_properties damping="2.0" friction="{steer_joint_friction}"/>
</joint>
<transmission name="front_right_joint_wheel_steer_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="$base_to_front_right_wheel"/>
<actuator name="front_right_joint_wheel_steer_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>100.0</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</actuator>
</transmission>
<!-- note front => fb = 1, left => lr = 1 -->
<link name="rear_left_wheel">
<visual>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
</collision>
</link>
<joint name="base_to_rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel"/>
<axis xyz="0 0 -1"/>
<origin rpy="1.57075 0 0" xyz="-0.19 0.25 -.05"/>
<limit effort="5.0" velocity="5.0"/>
<joint_properties damping="2.0" friction="{steer_joint_friction}"/>
</joint>
<transmission name="rear_left_joint_wheel_steer_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="$base_to_rear_left_wheel"/>
<actuator name="rear_left_joint_wheel_steer_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>100.0</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</actuator>
</transmission>
<!-- note front => fb = 1, left => lr = 1 -->
<link name="rear_right_wheel">
<visual>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.1" radius="0.15"/>
</geometry>
</collision>
</link>
<joint name="base_to_rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel"/>
<axis xyz="0 0 -1"/>
<origin rpy="1.57075 0 0" xyz="-0.19 -0.25 -.05"/>
<limit effort="5.0" velocity="5.0"/>
<joint_properties damping="2.0" friction="{steer_joint_friction}"/>
</joint>
<transmission name="rear_right_joint_wheel_steer_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="$base_to_rear_right_wheel"/>
<actuator name="rear_right_joint_wheel_steer_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>100.0</mechanicalReduction>
<motorTorqueConstant>1</motorTorqueConstant>
</actuator>
</transmission>
</robot>