Commit 97502e2d authored by Paul Bovbel's avatar Paul Bovbel
Browse files

RP-264 Remove gazebo dependencies; Refactor for multirobot

parent e4b1cf59
husky_description
=================
Viewer launchfile is in husky_viz package:
Husky URDF description.
roslaunch husky_viz view_model.launch
Viewer launchfile is in husky_viz package: `roslaunch husky_viz view_model.launch`
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file description.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="front_laser" default="false" />
<arg name="imu_enabled" default="false" />
<arg name="gps_enabled" default="false" />
<arg name="base_urdf" default="$(find husky_description)/urdf/base.urdf.xacro" />
<!-- Send the Husky A200 Robot URDF/XACRO to param server -->
<param name="robot_description"
command="$(find xacro)/xacro.py '$(arg base_urdf)'
imu_enabled:=$(arg imu_enabled)
gps_enabled:=$(arg gps_enabled)
front_laser:=$(arg front_laser)" />
<param name="robot_description" command="$(find xacro)/xacro.py '$(find husky_description)/urdf/description.xacro'" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
</launch>
......@@ -14,7 +14,6 @@
<run_depend>robot_state_publisher</run_depend>
<run_depend>urdf</run_depend>
<run_depend>xacro</run_depend>
<run_depend>hector_gazebo_plugins</run_depend>
<export>
</export>
......
<?xml version="1.0"?>
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find husky_description)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/wheel.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/parts.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/sensors/sick_lms100.urdf.xacro" />
<!-- Size of the base. -->
<property name="base_x_size" value="0.98740000" />
<property name="base_y_size" value="0.57090000" />
<property name="base_z_size" value="0.24750000" />
<xacro:property name="wheelbase" value="0.5120" />
<xacro:property name="track" value="0.5708" />
<xacro:property name="wheel_vertical_offset" value="0.03282" />
<xacro:property name="wheel_length" value="0.1143" />
<xacro:property name="wheel_radius" value="0.17775" />
<!-- Root node is the body of the robot. -->
<link name="base_link"/>
<gazebo reference="base_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<link name="chassis_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/base_link.stl" />
</geometry>
<material name="Black" />
</visual>
<collision>
<origin xyz="0 0 ${0.1578 - wheel_vertical_offset}" rpy="0 0 0" />
<geometry>
<!-- Make collision box slightly bigger in x and z directions. -->
<box size = "${base_x_size+0.02} ${base_y_size} ${base_z_size + 0.02}"/>
</geometry>
</collision>
<inertial>
<mass value="33.455" />
<origin xyz="-0.08748 -0.00085 0.09947" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197"
iyy="1.7386" iyz="-0.001544" izz="2.0296" />
</inertial>
</link>
<joint name="chassis_joint" type="fixed">
<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
<parent link="base_link" />
<child link="chassis_link" />
</joint>
<gazebo reference="chassis_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<xacro:husky_wheel prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel prefix="front_right">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel prefix="rear_left">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel prefix="rear_right">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
</robot>
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file decorations.urdf.xacro
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky_decorations" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="Black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.8 0.8 0.0 1.0"/>
</material>
<xacro:macro name="husky_decorate" params="prefix">
<link name="${prefix}top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.stl" />
</geometry>
<material name="Yellow" />
</visual>
</link>
<joint name="${prefix}top_plate" type="fixed">
<parent link="${prefix}chassis_link" />
<child link="${prefix}top_plate_link" />
</joint>
<gazebo reference="${prefix}top_plate_link">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<link name="${prefix}user_rail_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/user_rail.stl" />
</geometry>
<material name="DarkGrey" />
</visual>
</link>
<joint name="${prefix}user_rail" type="fixed">
<origin xyz="0.272 0 0.245" rpy="0 0 0" />
<parent link="${prefix}chassis_link" />
<child link="${prefix}user_rail_link" />
</joint>
<gazebo reference="${prefix}user_rail_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<link name="${prefix}front_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl" />
</geometry>
<material name="DarkGrey" />
</visual>
</link>
<joint name="${prefix}front_bumper" type="fixed">
<origin xyz="0.48 0 0.091" rpy="0 0 0" />
<parent link="${prefix}chassis_link" />
<child link="${prefix}front_bumper_link" />
</joint>
<gazebo reference="${prefix}front_bumper_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<link name="${prefix}rear_bumper_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper.stl" />
</geometry>
<material name="DarkGrey" />
</visual>
</link>
<joint name="${prefix}rear_bumper" type="fixed">
<origin xyz="-0.48 0 0.091" rpy="0 0 ${M_PI}" />
<parent link="${prefix}chassis_link" />
<child link="${prefix}rear_bumper_link" />
</joint>
<gazebo reference="${prefix}rear_bumper_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</xacro:macro>
</robot>
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file description.urdf.xacro
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find husky_description)/urdf/husky.urdf.xacro" />
<xacro:husky_robot prefix="" />
</robot>
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky.urdf.xacro
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find husky_description)/urdf/wheel.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/decorations.urdf.xacro" />
<property name="M_PI" value="3.14159"/>
<!-- Base Size -->
<property name="base_x_size" value="0.98740000" />
<property name="base_y_size" value="0.57090000" />
<property name="base_z_size" value="0.24750000" />
<!-- Wheel Mounting Positions -->
<xacro:property name="wheelbase" value="0.5120" />
<xacro:property name="track" value="0.5708" />
<xacro:property name="wheel_vertical_offset" value="0.03282" />
<!-- Wheel Properties -->
<xacro:property name="wheel_length" value="0.1143" />
<xacro:property name="wheel_radius" value="0.17775" />
<xacro:macro name="husky_robot" params="prefix">
<!-- Base link is on the ground under the robot -->
<link name="${prefix}base_link"/>
<gazebo reference="${prefix}base_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="${prefix}chassis_joint" type="fixed">
<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
<parent link="${prefix}base_link" />
<child link="${prefix}chassis_link" />
</joint>
<!-- Chassis link is the center of the robot's bottom plate -->
<link name="${prefix}chassis_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/base_link.stl" />
</geometry>
<material name="Black" />
</visual>
<collision>
<origin xyz="0 0 ${0.1578 - wheel_vertical_offset}" rpy="0 0 0" />
<geometry>
<!-- Make collision box slightly bigger in x and z directions. -->
<box size = "${base_x_size+0.02} ${base_y_size} ${base_z_size + 0.02}"/>
</geometry>
</collision>
<inertial>
<mass value="33.455" />
<origin xyz="-0.08748 -0.00085 0.09947" />
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197"
iyy="1.7386" iyz="-0.001544" izz="2.0296" />
</inertial>
</link>
<gazebo reference="${prefix}chassis_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="${prefix}imu_link"/>
<joint name="${prefix}imu_joint" type="fixed">
<origin xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)" rpy="$(optenv HUSKY_IMU_RPY 1.5708 0 -1.5708)" />
<parent link="${prefix}chassis_link" />
<child link="${prefix}imu_link" />
</joint>
<gazebo reference="${prefix}imu_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<xacro:husky_wheel prefix="${prefix}" wheel_prefix="front_left">
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="front_right" prefix="${prefix}">
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="rear_left" prefix="${prefix}">
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_wheel wheel_prefix="rear_right" prefix="${prefix}">
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
</xacro:husky_wheel>
<xacro:husky_decorate prefix="${prefix}"/>
</xacro:macro>
</robot>
<?xml version="1.0"?>
<!--
Copyright (c) 2012, Siddhant Ahuja/WAVELab, Ryan Gariepy/Clearpath Robotics
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
This program contains the materials for the Clearpath Husky A200 model
-->
<robot>
<material name="Black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.8 0.8 0.0 1.0"/>
</material>
</robot>
<?xml version="1.0"?>
<!--
Copyright (c) 2012, Ryan Gariepy
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
This program is a macro for adding decorative parts to the Clearpath Husky A200 model.
It is assumed that such parts are fixed to others, and those other parts' inertial
parameters account for the decorative parts. Decorative parts currently do not
incorporate collision.
-->
<robot 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" name="husky_part">
<!-- PROPERTY LIST -->
<property name="M_PI" value="3.1415926535897931" />
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<origin xyz="$(optenv HUSKY_IMU_XYZ 0.25 0 0.0415)" rpy="$(optenv HUSKY_IMU_RPY 1.5708 0 -1.5708)" />
<parent link="chassis_link" />
<child link="imu_link" />
</joint>
<gazebo reference="imu_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<xacro:if value="$(arg front_laser)">
<link name="sick_bracket_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/lidar_mount.stl" />
</geometry>
<material name="DarkGrey" />
</visual>
</link>
<joint name="sick_bracket" type="fixed">
<origin xyz="-0.12 0 0" rpy="0 0 0" />
<parent link="front_bumper_link" />
<child link="sick_bracket_link" />
</joint>
<gazebo reference="sick_bracket_link">
<material>Gazebo/DarkGrey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<xacro:sick_lms100 prefix="front" />
<joint name="front_laser_joint" type="fixed">
<origin xyz="0.07 0 0.17" rpy="0 0 0" />
<parent link="sick_bracket_link" />
<child link="front_laser" />
</joint>
</xacro:if>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
<xacro:if value="$(arg imu_enabled)">
<gazebo>
<plugin name="imu_controller" filename="libhector_gazebo_ros_imu.so">
<robotNamespace>/</robotNamespace>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>imu/data_compass</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>
</xacro:if>
<xacro:if value="$(arg gps_enabled)">
<gazebo>
<plugin name="gps_controller" filename="libhector_gazebo_ros_gps.so">
<updateRate>40</updateRate>
<robotNamespace>/</robotNamespace>
<bodyName>base_link</bodyName>
<frameId>base_link</frameId>
<topicName>/navsat/fix</topicName>
<velocityTopicName>/navsat/vel</velocityTopicName>
<referenceLatitude>49.9</referenceLatitude>
<referenceLongitude>8.9</referenceLongitude>
<referenceHeading>0</referenceHeading>
<referenceAltitude>0</referenceAltitude>
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo>
</xacro:if>
<!-- DECORATIONS -->
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.stl" />
</geometry>
<material name="Yellow" />
</visual>
</link>
<joint name="top_plate" type="fixed">
<parent link="chassis_link" />
<child link="top_plate_link" />
</joint>
<gazebo reference="top_plate_link">