Unverified Commit f07a8a75 authored by Dave Niewinski's avatar Dave Niewinski Committed by GitHub
Browse files

Merge pull request #109 from husky/urdf_cleanup

Fixed bumper extensions, cleaned up collision meshes
parents 8ebf5a76 9ac61b2c
......@@ -27,7 +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="$(optenv HUSKY_FORWARD_BUMPER_EXTEND 0)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<!-- Spawn Husky chassis -->
<link name="top_chassis_link">
......@@ -74,22 +75,22 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach front bumper -->
<joint name="front_bumper" type="fixed">
<origin xyz="${0.48 + husky_bumper_extend / 100.0} 0 0.091" rpy="0 0 0" />
<origin xyz="${0.48 + husky_front_bumper_extend} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_link" />
</joint>
<xacro:if value="${husky_bumper_extend}">
<xacro:if value="${husky_front_bumper_extend}">
<link name="front_bumper_extension_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" scale="${husky_bumper_extend} 1 1"/>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" />
</geometry>
</visual>
</link>
<joint name="front_bumper_extension" type="fixed">
<origin xyz="${0.405 + husky_bumper_extend / 200.0} 0 0.091" rpy="0 0 0" />
<origin xyz="${0.48 + husky_front_bumper_extend} 0 0.091" rpy="0 0 0" />
<parent link="base_link" />
<child link="front_bumper_extension_link" />
</joint>
......@@ -106,11 +107,27 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<!-- Attach rear bumper -->
<joint name="rear_bumper" type="fixed">
<origin xyz="-0.48 0 0.091" rpy="0 0 ${M_PI}" />
<origin xyz="${-0.48 - husky_rear_bumper_extend} 0 0.091" rpy="0 0 ${M_PI}" />
<parent link="base_link" />
<child link="rear_bumper_link" />
</joint>
<xacro:if value="${husky_rear_bumper_extend}">
<link name="rear_bumper_extension_link">
<visual>
<geometry>
<mesh filename="package://husky_description/meshes/bumper_extension.dae" />
</geometry>
</visual>
</link>
<joint name="rear_bumper_extension" type="fixed">
<origin xyz="${-0.48 - husky_rear_bumper_extend} 0 0.091" rpy="0 0 ${M_PI}" />
<parent link="base_link" />
<child link="rear_bumper_extension_link" />
</joint>
</xacro:if>
<xacro:if value="$(optenv HUSKY_TOP_PLATE_ENABLED true)">
<!-- Spawn the top plate -->
<xacro:if value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
......@@ -127,12 +144,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<mesh filename="package://husky_description/meshes/large_top_plate_collision.stl" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
</geometry>
</collision>
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
......@@ -165,13 +176,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://husky_description/meshes/top_plate.dae" />
</geometry>
</collision>
<collision>
<!-- Extra collision tag for widgets on top plate -->
<geometry>
<box size="0.32 0.41 0.09" rpy="0 0 0"/>
<mesh filename="package://husky_description/meshes/top_plate.stl" />
</geometry>
</collision>
</link>
......
......@@ -33,7 +33,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="kinect_xyz" default="$(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:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<xacro:arg name="robot_namespace" default="/" />
<xacro:arg name="urdf_extras" default="empty.urdf" />
......@@ -71,15 +72,15 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</geometry>
</visual>
<collision>
<origin xyz="${husky_bumper_extend / 200.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<origin xyz="${( husky_front_bumper_extend - husky_rear_bumper_extend ) / 2.0} 0 ${base_z_size/4}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size + husky_bumper_extend / 100.0} ${base_y_size} ${base_z_size/2}"/>
<box size="${ base_x_size + husky_front_bumper_extend + husky_rear_bumper_extend } ${base_y_size} ${base_z_size/2}"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0 ${base_z_size*3/4}" rpy="0 0 0" />
<origin xyz="0 0 ${base_z_size*3/4-0.01}" rpy="0 0 0" />
<geometry>
<box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2}"/>
<box size="${base_x_size*4/5} ${base_y_size} ${base_z_size/2-0.02}"/>
</geometry>
</collision>
</link>
......
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