Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Working Gazebo model #7

Merged
merged 10 commits into from
Aug 7, 2020
Merged

Working Gazebo model #7

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
88e5c6b
removed inertia from root link and shifted to new base_inertia link
grassjelly Aug 7, 2020
87490bb
added transmission and ros_control plugin to make actuators work in G…
grassjelly Aug 7, 2020
5a9823a
added friction on foot links
grassjelly Aug 7, 2020
966b642
centered leg CoM
grassjelly Aug 7, 2020
41b949d
improved actuator params
grassjelly Aug 7, 2020
d405cf2
add explicit declaration of Gazebo color based on matname param
grassjelly Aug 7, 2020
4004fab
shifted foot friction to macro
grassjelly Aug 7, 2020
79db3b6
added accessories
grassjelly Aug 7, 2020
e6e9417
fixed typo
grassjelly Aug 7, 2020
627e0bc
generate new urdf
grassjelly Aug 7, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion mini_ros/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,8 @@
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>visualization_msgs</exec_depend>

<exec_depend>hector_gazebo_plugins</exec_depend>
<exec_depend>hector_sensors_description</exec_depend>
<test_depend>rostest</test_depend>
<test_depend>rosunit</test_depend>

Expand Down
57 changes: 57 additions & 0 deletions mini_ros/urdf/accessories.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,57 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find hector_sensors_description)/urdf/hokuyo_utm30lx.urdf.xacro" />
<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />

<xacro:hokuyo_utm30lx
name="hokuyo"
parent="base_link"
ros_topic="scan"
update_rate="30"
ray_count="1040"
min_angle="130"
max_angle="-130" >
<origin xyz="0.0 0.0 0.1" rpy="0 0 0"/>
</xacro:hokuyo_utm30lx>

<gazebo reference="hokuyo_frame">
<material>Gazebo/FlatBlack</material>
</gazebo>

<!-- <xacro:asus_camera
parent="base_link"
name="camera">
<origin xyz="0.2 0.0 0.05" rpy="0 0 0"/>
</xacro:asus_camera> -->

<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<updateRate>50.0</updateRate>
<bodyName>imu_link</bodyName>
<topicName>imu/data</topicName>
<accelDrift>0.005 0.005 0.005</accelDrift>
<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
<rateDrift>0.005 0.005 0.005 </rateDrift>
<rateGaussianNoise>0.005 0.005 0.005 </rateGaussianNoise>
<headingDrift>0.005</headingDrift>
<headingGaussianNoise>0.005</headingGaussianNoise>
</plugin>
</gazebo>

<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
</joint>

<!-- <xacro:include filename="$(find champ_arm_description)/urdf/champ_arm.urdf.xacro" />
<xacro:champ_arm parent="base_link">
<origin xyz="0.07 0.0 ${base_z_length / 2}" rpy="0 0 0"/>
</xacro:champ_arm> -->
</robot>
Loading