-
Notifications
You must be signed in to change notification settings - Fork 30
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge pull request #19 from Tiryoh/hotfix
Fix old version xacro files
- Loading branch information
Showing
4 changed files
with
165 additions
and
4 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="raspimouse_on_gazebo" | ||
| xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" | ||
| xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" | ||
| xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" | ||
| xmlns:xacro="http://ros.org/wiki/xacro"> | ||
|
|
||
| <xacro:include filename="$(find raspimouse_description)/urdf/body/body.urdf.xacro"/> | ||
| <xacro:include filename="$(find raspimouse_description)/urdf/wheel/wheel.urdf.xacro"/> | ||
| <xacro:include filename="$(find raspimouse_description)/urdf/sensors/lightsens.urdf.xacro"/> | ||
|
|
||
| <!-- =============== Link & Joint =============== --> | ||
| <!-- Base --> | ||
| <link name="base_footprint"/> | ||
|
|
||
| <xacro:base parent="base_footprint"> | ||
| <origin xyz="0 0 0.00185"/> | ||
| </xacro:base> | ||
|
|
||
| <!-- Wheel --> | ||
| <xacro:wheel prefix="right" parent="base_link"> | ||
| <origin xyz="0 -0.0425 0.02215" rpy="1.57 0 0"/> | ||
| <axis xyz="0 0 -1"/> | ||
| </xacro:wheel> | ||
| <xacro:wheel prefix="left" parent="base_link"> | ||
| <origin xyz="0 0.0425 0.02215" rpy="-1.57 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </xacro:wheel> | ||
|
|
||
| <!-- Sensors --> | ||
| <xacro:light_sensor prefix="rf" parent="base_link"> | ||
| <origin xyz="0.04 -0.045 0.032" rpy="0 0 0"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="rs" parent="base_link"> | ||
| <origin xyz="0.059 -0.01 0.032" rpy="0 0 -1.04"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="ls" parent="base_link"> | ||
| <origin xyz="0.059 0.01 0.032" rpy="0 0 1.04"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="lf" parent="base_link"> | ||
| <origin xyz="0.04 0.045 0.032" rpy="0 0 0"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <!-- =============== Transmission =============== --> | ||
| <!-- PositionJointInterface: requires position --> | ||
| <!-- <xacro:wheel_trans prefix="right" interface="PositionJointInterface"/> --> | ||
| <!-- <xacro:wheel_trans prefix="left" interface="PositionJointInterface"/> --> | ||
| <!-- VelocityJointInterface: requires position, velocity --> | ||
| <!-- for DiffDriveController --> | ||
| <xacro:wheel_trans prefix="right" interface="hardware_interface/VelocityJointInterface"/> | ||
| <xacro:wheel_trans prefix="left" interface="hardware_interface/VelocityJointInterface"/> | ||
| <!-- EffortJointInterface: requires position, velocity, effort --> | ||
| <!-- <xacro:wheel_trans prefix="right" interface="EffortJointInterface"/> --> | ||
| <!-- <xacro:wheel_trans prefix="left" interface="EffortJointInterface"/> --> | ||
|
|
||
| <!-- =============== Gazebo =============== --> | ||
| <gazebo> | ||
| <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> | ||
| <robotNamespace>raspimouse_on_gazebo</robotNamespace> | ||
| </plugin> | ||
| </gazebo> | ||
|
|
||
| <!-- Base --> | ||
| <xacro:base_gazebo/> | ||
|
|
||
| <!-- Wheel --> | ||
| <xacro:wheel_gazebo prefix="right"/> | ||
| <xacro:wheel_gazebo prefix="left"/> | ||
|
|
||
| <!-- Sensors --> | ||
| <xacro:lightsensor_gazebo prefix="rf" base_rad="0" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="rs" base_rad="-1.04" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="ls" base_rad="1.04" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="lf" base_rad="0" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
|
|
||
| <raspimouse_on_gazebo/> | ||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="raspimouse_on_gazebo" | ||
| xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" | ||
| xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" | ||
| xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" | ||
| xmlns:xacro="http://ros.org/wiki/xacro"> | ||
|
|
||
| <xacro:include filename="$(find raspimouse_description)/urdf/body/body_urg.urdf.xacro"/> | ||
| <xacro:include filename="$(find raspimouse_description)/urdf/wheel/wheel.urdf.xacro"/> | ||
| <xacro:include filename="$(find raspimouse_description)/urdf/sensors/lightsens.urdf.xacro"/> | ||
| <xacro:include filename="$(find raspimouse_description)/urdf/sensors/lrf.urdf.xacro"/> | ||
|
|
||
| <!-- =============== Link & Joint =============== --> | ||
| <!-- Base --> | ||
| <link name="base_footprint"/> | ||
|
|
||
| <xacro:base parent="base_footprint"> | ||
| <origin xyz="0 0 0.00185"/> | ||
| </xacro:base> | ||
|
|
||
| <!-- Wheel --> | ||
| <xacro:wheel prefix="right" parent="base_link"> | ||
| <origin xyz="0 -0.0425 0.02215" rpy="1.57 0 0"/> | ||
| <axis xyz="0 0 -1"/> | ||
| </xacro:wheel> | ||
| <xacro:wheel prefix="left" parent="base_link"> | ||
| <origin xyz="0 0.0425 0.02215" rpy="-1.57 0 0"/> | ||
| <axis xyz="0 0 1"/> | ||
| </xacro:wheel> | ||
|
|
||
| <!-- Sensors --> | ||
| <xacro:light_sensor prefix="rf" parent="base_link"> | ||
| <origin xyz="0.04 -0.045 0.032" rpy="0 0 0"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="rs" parent="base_link"> | ||
| <origin xyz="0.059 -0.01 0.032" rpy="0 0 -1.04"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="ls" parent="base_link"> | ||
| <origin xyz="0.059 0.01 0.032" rpy="0 0 1.04"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:light_sensor prefix="lf" parent="base_link"> | ||
| <origin xyz="0.04 0.045 0.032" rpy="0 0 0"/> | ||
| </xacro:light_sensor> | ||
|
|
||
| <xacro:lrf_sensor prefix="urg_lrf_link" parent="base_link"> | ||
| <origin xyz="0.0 0.0 0.14060" rpy="0 0 0"/> | ||
| <!-- <origin xyz="0.0 0.0 0.18745" rpy="0 0 0"/> --> | ||
| </xacro:lrf_sensor> | ||
|
|
||
| <!-- =============== Transmission =============== --> | ||
| <!-- <xacro:wheel_trans prefix="right" interface="EffortJointInterface"/> --> | ||
| <!-- <xacro:wheel_trans prefix="left" interface="EffortJointInterface"/> --> | ||
| <xacro:wheel_trans prefix="right" interface="hardware_interface/VelocityJointInterface"/> | ||
| <xacro:wheel_trans prefix="left" interface="hardware_interface/VelocityJointInterface"/> | ||
|
|
||
| <!-- =============== Gazebo =============== --> | ||
| <gazebo> | ||
| <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> | ||
| <robotNamespace>raspimouse_on_gazebo</robotNamespace> | ||
| </plugin> | ||
| </gazebo> | ||
|
|
||
| <!-- Base --> | ||
| <xacro:base_gazebo/> | ||
|
|
||
| <!-- Wheel --> | ||
| <xacro:wheel_gazebo prefix="right"/> | ||
| <xacro:wheel_gazebo prefix="left"/> | ||
|
|
||
| <!-- Sensors --> | ||
| <xacro:lightsensor_gazebo prefix="rf" base_rad="0" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="rs" base_rad="-1.04" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="ls" base_rad="1.04" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lightsensor_gazebo prefix="lf" base_rad="0" rad_range="0.3" min_range="0.01" max_range="0.6"/> | ||
| <xacro:lrf_gazebo prefix="urg" base_rad="0" rad_range="4.71" min_range="0.10" max_range="5.6"/> | ||
|
|
||
| <raspimouse_on_gazebo/> | ||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters