Skip to content
GitLab
Commit 5f1e46c0 authored by Guy Stoppi's avatar Guy Stoppi Committed by Tony Baltovski
Browse files

Added env var to allow a 7cm forward bumper extension (#92) 

* Added env var to allow for extendable front bumper

* Fix weird spacing

* Uploaded bumper extension meshes

* Allowed for different lengths of bumper extensions
parent 7f00bbb3
Hide whitespace changes
Inline Side-by-side
husky_description/meshes/bumper_extension.dae 0 → 100644
View file @ 5f1e46c0
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Assimp</author>
<authoring_tool>Assimp Exporter</authoring_tool>
</contributor>
<created>2018-08-07T17:34:09</created>
<modified>2018-08-07T17:34:09</modified>
<unit name="meter" meter="1" />
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="Dark-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0 0 0 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.1 0.1 0.1 1</color>
</diffuse>
<specular>
<color sid="specular">0.05 0.05 0.2239895 1</color>
</specular>
<shininess>
<float sid="shininess">50</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="Dark-material" name="Dark">
<instance_effect url="#Dark-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="meshId0" name="meshId0_name" >
<mesh>
<source id="meshId0-positions" name="meshId0-positions">
<float_array id="meshId0-positions-array" count="444"> -0.005 -0.10827 0.00969636 0.005 -0.10327 0.0084236 -0.005 -0.10327 0.0084236 -0.005 -0.10327 0.0084236 0.005 -0.10327 0.0084236 0.005 -0.0996097 0.00494636 -0.005 -0.0996097 0.00494636 -0.005 -0.0996097 0.00494636 0.005 -0.0996097 0.00494636 0.005 -0.09827 0.000196356 -0.005 -0.09827 0.000196356 -0.005 -0.09827 0.000196356 0.005 -0.09827 0.000196356 0.005 -0.0996097 -0.00455364 -0.005 -0.0996097 -0.00455364 -0.005 -0.0996097 -0.00455364 0.005 -0.0996097 -0.00455364 0.005 -0.10327 -0.00803088 -0.005 -0.10327 -0.00803088 -0.005 -0.10327 -0.00803088 0.005 -0.10327 -0.00803088 0.005 -0.10827 -0.00930364 -0.005 -0.10827 -0.00930364 -0.005 -0.10827 -0.00930364 0.005 -0.10827 -0.00930364 0.005 -0.11327 -0.00803088 -0.005 -0.11327 -0.00803088 -0.005 -0.11327 -0.00803088 0.005 -0.11327 -0.00803088 0.005 -0.11693 -0.00455364 -0.005 -0.11693 -0.00455364 -0.005 -0.11693 -0.00455364 0.005 -0.11693 -0.00455364 0.005 -0.11827 0.000196356 -0.005 -0.11827 0.000196356 -0.005 -0.11827 0.000196356 0.005 -0.11827 0.000196356 0.005 -0.11693 0.00494636 -0.005 -0.11693 0.00494636 -0.005 -0.11693 0.00494636 0.005 -0.11693 0.00494636 0.005 -0.11327 0.0084236 -0.005 -0.11327 0.0084236 -0.005 -0.11327 0.0084236 0.005 -0.11327 0.0084236 0.005 -0.10827 0.00969636 -0.005 -0.10827 0.00969636 0.005 -0.10827 0.00969636 0.005 -0.11693 -0.00455364 0.005 -0.11327 -0.00803088 0.005 -0.10827 0.000196356 0.005 -0.10827 -0.00930364 0.005 -0.10327 -0.00803088 0.005 -0.11327 0.0084236 0.005 -0.11693 0.00494636 0.005 -0.11827 0.000196356 0.005 -0.0996097 0.00494636 0.005 -0.10327 0.0084236 0.005 -0.10827 0.00969636 0.005 -0.0996097 -0.00455364 0.005 -0.09827 0.000196356 -0.005 -0.0996097 -0.00455364 -0.005 -0.10327 -0.00803088 -0.005 -0.10827 0.000196356 -0.005 -0.10827 -0.00930364 -0.005 -0.11327 -0.00803088 -0.005 -0.10327 0.0084236 -0.005 -0.0996097 0.00494636 -0.005 -0.09827 0.000196356 -0.005 -0.11693 0.00494636 -0.005 -0.11327 0.0084236 -0.005 -0.10827 0.00969636 -0.005 -0.11693 -0.00455364 -0.005 -0.11827 0.000196356 -0.005 0.10827 0.00969636 0.005 0.10327 0.0084236 -0.005 0.10327 0.0084236 -0.005 0.10327 0.0084236 0.005 0.10327 0.0084236 0.005 0.0996097 0.00494636 -0.005 0.0996097 0.00494636 -0.005 0.0996097 0.00494636 0.005 0.0996097 0.00494636 0.005 0.09827 0.000196356 -0.005 0.09827 0.000196356 -0.005 0.09827 0.000196356 0.005 0.09827 0.000196356 0.005 0.0996097 -0.00455364 -0.005 0.0996097 -0.00455364 -0.005 0.0996097 -0.00455364 0.005 0.0996097 -0.00455364 0.005 0.10327 -0.00803088 -0.005 0.10327 -0.00803088 -0.005 0.10327 -0.00803088 0.005 0.10327 -0.00803088 0.005 0.10827 -0.00930364 -0.005 0.10827 -0.00930364 -0.005 0.10827 -0.00930364 0.005 0.10827 -0.00930364 0.005 0.11327 -0.00803088 -0.005 0.11327 -0.00803088 -0.005 0.11327 -0.00803088 0.005 0.11327 -0.00803088 0.005 0.11693 -0.00455364 -0.005 0.11693 -0.00455364 -0.005 0.11693 -0.00455364 0.005 0.11693 -0.00455364 0.005 0.11827 0.000196356 -0.005 0.11827 0.000196356 -0.005 0.11827 0.000196356 0.005 0.11827 0.000196356 0.005 0.11693 0.00494636 -0.005 0.11693 0.00494636 -0.005 0.11693 0.00494636 0.005 0.11693 0.00494636 0.005 0.11327 0.0084236 -0.005 0.11327 0.0084236 -0.005 0.11327 0.0084236 0.005 0.11327 0.0084236 0.005 0.10827 0.00969636 -0.005 0.10827 0.00969636 0.005 0.10827 0.00969636 0.005 0.11693 -0.00455364 0.005 0.11327 -0.00803088 0.005 0.10827 0.000196356 0.005 0.10827 -0.00930364 0.005 0.10327 -0.00803088 0.005 0.11327 0.0084236 0.005 0.11693 0.00494636 0.005 0.11827 0.000196356 0.005 0.0996097 0.00494636 0.005 0.10327 0.0084236 0.005 0.10827 0.00969636 0.005 0.0996097 -0.00455364 0.005 0.09827 0.000196356 -0.005 0.0996097 -0.00455364 -0.005 0.10327 -0.00803088 -0.005 0.10827 0.000196356 -0.005 0.10827 -0.00930364 -0.005 0.11327 -0.00803088 -0.005 0.10327 0.0084236 -0.005 0.0996097 0.00494636 -0.005 0.09827 0.000196356 -0.005 0.11693 0.00494636 -0.005 0.11327 0.0084236 -0.005 0.10827 0.00969636 -0.005 0.11693 -0.00455364 -0.005 0.11827 0.000196356 </float_array>
<technique_common>
<accessor count="148" offset="0" source="#meshId0-positions-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<source id="meshId0-normals" name="meshId0-normals">
<float_array id="meshId0-normals-array" count="444"> 0 0.246686 0.969096 0 0.246686 0.969096 0 0.246686 0.969096 0 0.688749 0.725 0 0.688749 0.725 0 0.688749 0.725 0 0.688751 0.724998 0 0.962449 0.271462 0 0.962449 0.271462 0 0.962449 0.271462 0 0.962449 0.271462 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.688751 -0.724998 0 0.688751 -0.724998 0 0.688751 -0.724998 0 0.688749 -0.725 0 0.246686 -0.969096 0 0.246686 -0.969096 0 0.246686 -0.969096 0 0.246684 -0.969096 0 -0.246684 -0.969096 0 -0.246684 -0.969096 0 -0.246684 -0.969096 0 -0.246686 -0.969096 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.246686 0.969096 0 -0.246686 0.969096 0 -0.246686 0.969096 0 -0.246684 0.969096 0 0.246684 0.969096 1 0 0 1 0 0 1 0 0 1 1.91472e-08 0 1 -1.91472e-08 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -1.91472e-08 0 1 0 0 1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1.91472e-08 0 -1 1.91472e-08 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 1.91472e-08 0 -1 0 0 -1 0 0 0 0.246686 -0.969096 0 0.246686 -0.969096 0 0.246686 -0.969096 0 0.688749 -0.725 0 0.688749 -0.725 0 0.688749 -0.725 0 0.688751 -0.724998 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.962449 -0.271462 0 0.962449 0.271462 0 0.962449 0.271462 0 0.962449 0.271462 0 0.962449 0.271462 0 0.688751 0.724998 0 0.688751 0.724998 0 0.688751 0.724998 0 0.688749 0.725 0 0.246686 0.969096 0 0.246686 0.969096 0 0.246686 0.969096 0 0.246684 0.969096 0 -0.246684 0.969096 0 -0.246684 0.969096 0 -0.246684 0.969096 0 -0.246686 0.969096 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.688751 0.724998 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.962449 0.271462 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.962449 -0.271462 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.688751 -0.724998 0 -0.246686 -0.969096 0 -0.246686 -0.969096 0 -0.246686 -0.969096 0 -0.246684 -0.969096 0 0.246684 -0.969096 -1 0 0 -1 0 0 -1 0 0 -1 1.91472e-08 0 -1 -1.91472e-08 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 -1.91472e-08 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 -1.91472e-08 0 1 1.91472e-08 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 1.91472e-08 0 1 0 0 1 0 0 </float_array>
<technique_common>
<accessor count="148" offset="0" source="#meshId0-normals-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<vertices id="meshId0-vertices">
<input semantic="POSITION" source="#meshId0-positions" />
<input semantic="NORMAL" source="#meshId0-normals" />
</vertices>
<polylist count="96" material="Dark-material">
<input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 1 2 0 47 1 3 4 5 3 5 6 7 8 9 7 9 10 11 12 13 11 13 14 15 16 17 15 17 18 19 20 21 19 21 22 23 24 25 23 25 26 27 28 29 27 29 30 31 32 33 31 33 34 35 36 37 35 37 38 39 40 41 39 41 42 43 44 45 43 45 46 48 49 50 50 55 48 50 49 51 50 51 52 52 59 50 50 59 60 50 60 56 56 57 50 50 57 58 50 58 53 53 54 50 50 54 55 61 62 63 63 68 61 63 62 64 63 64 65 65 72 63 63 72 73 63 73 69 69 70 63 63 70 71 63 71 66 66 67 63 63 67 68 74 75 76 74 121 75 77 78 79 77 79 80 81 82 83 81 83 84 85 86 87 85 87 88 89 90 91 89 91 92 93 94 95 93 95 96 97 98 99 97 99 100 101 102 103 101 103 104 105 106 107 105 107 108 109 110 111 109 111 112 113 114 115 113 115 116 117 118 119 117 119 120 122 123 124 124 129 122 124 123 125 124 125 126 126 133 124 124 133 134 124 134 130 130 131 124 124 131 132 124 132 127 127 128 124 124 128 129 135 136 137 137 142 135 137 136 138 137 138 139 139 146 137 137 146 147 137 147 143 143 144 137 137 144 145 137 145 140 140 141 137 137 141 142 </p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="<STL_BINARY>" name="<STL_BINARY>">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#meshId0">
<bind_material>
<technique_common>
<instance_material symbol="Dark-material" target="#Dark-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene" />
</scene>
</COLLADA>
husky_description/urdf/decorations.urdf.xacro
View file @ 5f1e46c0
......@@ -27,6 +27,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:macro name="husky_decorate">
<xacro:property name="husky_bumper_extend" value="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
<visual>
......@@ -70,11 +72,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin xyz="0.48 0 0.091" rpy="0 0 0" />
<origin xyz="${0.48 + husky_bumper_extend / 100.0} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_link" />
</joint>
<xacro:if value="${husky_bumper_extend}">
<link name="front_bumper_extension_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" scale="${husky_bumper_extend} 1 1"/>
</geometry>
</visual>
</link>
<joint name="front_bumper_extension" type="fixed">
<origin xyz="${0.405 + husky_bumper_extend / 200.0} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_extension_link" />
</joint>
</xacro:if>
<!-- Spawn rear bumper link -->
<link name="rear_bumper_link">
<visual>
......
husky_description/urdf/husky.urdf.xacro
View file @ 5f1e46c0
......@@ -33,6 +33,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0 0 0)" />
<xacro:arg name="kinect_rpy" default="$(optenv HUSKY_KINECT_RPY 0 0.18 3.14)" />
<xacro:property name="husky_bumper_extend" value="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
......@@ -69,9 +71,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry>
</visual>
<collision>
<origin xyz="0 0 ${base_z_size/4}" rpy="0 0 0" />
<origin xyz="${husky_bumper_extend / 200.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size} ${base_y_size} ${base_z_size/2}"/>
<box size="${base_x_size + husky_bumper_extend / 100.0} ${base_y_size} ${base_z_size/2}"/>
</geometry>
</collision>
<collision>
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment