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
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...@@ -27,6 +27,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -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:macro name="husky_decorate">
<xacro:property name="husky_bumper_extend" value="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<!-- Spawn Husky chassis --> <!-- Spawn Husky chassis -->
<link name="top_chassis_link"> <link name="top_chassis_link">
<visual> <visual>
...@@ -70,11 +72,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -70,11 +72,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach front bumper --> <!-- Attach front bumper -->
<joint name="front_bumper" type="fixed"> <joint name="front_bumper" type="fixed">
<origin xyz="0.48 0 0.091" rpy="0 0 0" /> <origin xyz="${0.48 + husky_bumper_extend / 100.0} 0 0.091" rpy="0 0 0" />
<parent link="base_link" /> <parent link="base_link" />
<child link="front_bumper_link" /> <child link="front_bumper_link" />
</joint> </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="${0.405 + husky_bumper_extend / 200.0} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_extension_link" />
</joint>
</xacro:if>
<!-- Spawn rear bumper link --> <!-- Spawn rear bumper link -->
<link name="rear_bumper_link"> <link name="rear_bumper_link">
<visual> <visual>
......
...@@ -33,6 +33,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI ...@@ -33,6 +33,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0 0 0)" /> <xacro:arg name="kinect_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: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="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" /> <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 ...@@ -69,9 +71,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<origin xyz="0 0 ${base_z_size/4}" rpy="0 0 0" /> <origin xyz="${husky_bumper_extend / 200.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<geometry> <geometry>
<box size="${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> </geometry>
</collision> </collision>
<collision> <collision>
......
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