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Added labrob_worlds package
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@fsuarez6
fsuarez6 committed Apr 10, 2014
1 parent 3f1812b commit 6f9272a
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Showing 16 changed files with 1,296 additions and 102 deletions.
1 change: 1 addition & 0 deletions labrob_control/package.xml
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Expand Up @@ -18,6 +18,7 @@
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>

<run_depend>controller_manager</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>joy</run_depend>
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102 changes: 92 additions & 10 deletions labrob_description/urdf/labrob.urdf.xacro
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Expand Up @@ -9,11 +9,14 @@
<!-- PROPERTY LIST -->
<!--All units in m-kg-s-radians unit system -->
<property name="M_PI" value="3.1415926535897931" />
<property name="M_PI_2" value="1.570796327" />
<property name="DEG_TO_RAD" value="0.017453293" />

<!-- Main Body-base -->
<property name="base_x_size" value="1.0" />
<property name="base_y_size" value="0.5" />
<property name="base_z_size" value="0.25" />
<property name="hokuyo_size" value="0.05" />
<property name="base_mass" value="35" /> <!-- in kg-->

<!--Inertial macros for the box and cylinder. Units are kg*m^2-->
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<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="1 0.5 0.25"/>
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
</geometry>
<material name="Yellow" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0 " />
<geometry>
<box size="1 0.5 0.25"/>
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
</geometry>
</collision>
</link>
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<wheel fb="back" lr="right" parent="base_link" translateX="-1" translateY="-1" flipY="-1"/>
<wheel fb="back" lr="left" parent="base_link" translateX="-1" translateY="1" flipY="-1"/>

<!-- Kinect -->

<!-- SENSORS -->

<!-- hokuyo -->
<link name="hokuyo_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="${hokuyo_size} ${hokuyo_size} ${hokuyo_size}"/>
</geometry>
<material name="Blue" />
</visual>
</link>
<joint name="hokuyo_joint" type="fixed">
<origin xyz="${base_x_size/2 - hokuyo_size/2} 0 ${base_z_size/2+hokuyo_size/2}" rpy="0 0 0" />
<parent link="base_link"/>
<child link="hokuyo_link" />
</joint>
<gazebo reference="hokuyo_link">
<material>Gazebo/Blue</material>
<turnGravityOff>false</turnGravityOff>
<sensor type="ray" name="head_hokuyo_sensor">
<pose>${hokuyo_size/2} 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>40</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-1.570796</min_angle>
<max_angle>1.570796</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>10.0</max>
<resolution>0.001</resolution>
</range>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>hokuyo_link</frameName>
</plugin>
</sensor>
</gazebo>

<!-- Kinect
<link name="kinect_link"/>
<joint name="kinect_joint" type="fixed">
<origin xyz="0.6 0 -0.1" rpy="0 0 0" />
<origin xyz="0.5 0 -0.1" rpy="0 0 0" />
<parent link="base_link"/>
<child link="kinect_link" />
</joint>
<sensor_kinect parent="kinect_link"/>
<sensor_kinect parent="kinect_link"/> -->


<!-- DRIVE CONTROLLERS -->

<!-- Skid steer drive controller -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<alwaysOn>true</alwaysOn>
<alwaysOn>1</alwaysOn>
<updateRate>100.0</updateRate>
<leftFrontJoint>front_left_wheel_joint</leftFrontJoint>
<rightFrontJoint>front_right_wheel_joint</rightFrontJoint>
<leftRearJoint>back_left_wheel_joint</leftRearJoint>
<rightRearJoint>back_right_wheel_joint</rightRearJoint>
<wheelSeparation>${base_y_size}</wheelSeparation>
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<torque>35</torque>
<torque>100</torque>
<broadcastTF>1</broadcastTF>
<odometryFrame>map</odometryFrame>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
</gazebo>
</gazebo>


<!-- Differential drive controller
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" />
<plugin name="differential_drive_controller_back" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<leftJoint>back_left_wheel_joint</leftJoint>
<rightJoint>back_right_wheel_joint</rightJoint>
<wheelSeparation>${base_y_size}</wheelSeparation>
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<torque>100</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>map</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
<plugin name="differential_drive_controller_front" filename="libgazebo_ros_diff_drive.so">
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<leftJoint>front_left_wheel_joint</leftJoint>
<rightJoint>front_right_wheel_joint</rightJoint>
<wheelSeparation>${base_y_size}</wheelSeparation>
<wheelDiameter>${2*wheel_radius}</wheelDiameter>
<torque>100</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>map</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo> -->

</robot>
1 change: 1 addition & 0 deletions labrob_gazebo/CMakeLists.txt
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Expand Up @@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
turtlebot_bringup
)


catkin_package(
# INCLUDE_DIRS include
# LIBRARIES labrob_gazebo
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