aquanaute.urdf 3.84 KB
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<?xml version="1.0"?>
<robot name="aquanaute">
  <!-- Macro for creating the main collisions as simple shapes. -->
  <xacro:macro name="main_collisions" params="prefix reflect:=1">
    <!-- Main float -->
    <collision name="${prefix}_float">
      <origin xyz="-0.4 ${1.03*reflect} 0.2" rpy="${0*reflect} 1.57 0" />
      <geometry>
        <cylinder length="4" radius="0.2" />
      </geometry>
    </collision>

    <collision name="${prefix}_mid_float">
      <origin xyz="1.85 ${1.03*reflect} 0.3" rpy="${0*reflect} 1.38 0" />
      <geometry>
        <cylinder length="0.5" radius="0.17" />
      </geometry>
    </collision>
    <collision name="${prefix}_front_float">
      <origin xyz="2.3 ${1.03*reflect} 0.4" rpy="${0*reflect} 1.3 0" />
      <geometry>
        <cylinder length="0.45" radius="0.12" />
      </geometry>
    </collision>

    <!-- Front beam -->
    <collision name="front_${prefix}_beam_lower">
      <origin xyz="0.9 ${0.85*reflect} 1" rpy="${0.78*reflect} 0 0" />
      <geometry>
        <cylinder length="0.5" radius="0.04" />
      </geometry>
    </collision>

    <collision name="front_${prefix}_beam_upper">
      <origin xyz="0.9 ${0.6*reflect} 1.18" rpy="${1.35*reflect} 0 0" />
      <geometry>
        <cylinder length="0.2" radius="0.04" />
      </geometry>
    </collision>

    <!-- Mid beam -->
    <collision name="mid_${prefix}_beam_lower">
      <origin xyz="-0.65 ${0.99*reflect} 0.7" rpy="${0.1*reflect} 0.25 0" />
      <geometry>
        <cylinder length="0.45" radius="0.03" />
      </geometry>
    </collision>

    <collision name="mid_${prefix}_beam_medium">
      <origin xyz="-0.57 ${0.87*reflect} 1.05" rpy="${0.75*reflect} 0.25 0" />
      <geometry>
        <cylinder length="0.32" radius="0.03" />
      </geometry>
    </collision>

    <collision name="mid_${prefix}_beam_upper">
      <origin xyz="-0.55 ${0.65*reflect} 1.17" rpy="${1.35*reflect} 0.25 0" />
      <geometry>
        <cylinder length="0.3" radius="0.03" />
      </geometry>
    </collision>

    <!-- Rear beam -->
    <collision name="rear_${prefix}_beam_lower">
      <origin xyz="-0.74 ${1.03*reflect} 0.7" rpy="${0*reflect} -0.15 0" />
      <geometry>
        <cylinder length="0.45" radius="0.03" />
      </geometry>
    </collision>

    <collision name="rear_${prefix}_beam_medium">
      <origin xyz="-0.79 ${0.91*reflect} 1.05" rpy="${0.75*reflect} -0.15 0" />
      <geometry>
        <cylinder length="0.32" radius="0.03" />
      </geometry>
    </collision>

    <collision name="rear_${prefix}_beam_upper">
      <origin xyz="-0.81 ${0.67*reflect} 1.18" rpy="${1.45*reflect} -0.15 0" />
      <geometry>
        <cylinder length="0.3" radius="0.03" />
      </geometry>
    </collision>

    <!-- Joint -->
    <collision name="${prefix}_joint">
      <origin xyz="0.58 ${1.03*reflect} 0.6" rpy="${0*reflect} -0.6 0" />
      <geometry>
        <box size="0.65 0.2 0.1" />
      </geometry>
    </collision>
  </xacro:macro>

  <link name="base_link">
  </link>

  <joint name="dummy_joint" type = "fixed">
    <parent link="base_link"/>
    <child link="dummy_link"/>
  </joint>

  <!-- Basic model of the 16' WAM-V USV -->
  <link name="dummy_link">
    <visual>
      <geometry>
        <mesh filename="package://wamv_description/models/WAM-V-Base/mesh/WAM-V-Base.dae"/>
      </geometry>
    </visual>

    <!-- Left base collisions -->
    <xacro:main_collisions prefix="left" reflect="1" />

    <!-- Right side collisions -->
    <xacro:main_collisions prefix="right" reflect="-1" />

     <!-- Top base -->
    <collision name="top_base">
      <origin xyz="0 -0 1.25" rpy="0 0 0" />
      <geometry>
        <box size="1.85 1 0.1" />
      </geometry>
    </collision>

    <inertial>
      <!-- From WAM-V spec sheet -->
      <mass value="180.0"/>
      <inertia ixx="120.0" ixy="0.0" ixz="0.0" iyy="393" iyz="0.0" izz="446.0"/>
    </inertial>
  </link>

</robot>