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