Pimpest/ros2-control-testing
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Updated robot parameters

Browse Source
This commit is contained in:
Pimpest
2025-02-07 16:41:57 +01:00
parent 75a47dd8c9
commit 30201beed7
2 changed files with 12 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
mg_wheel_interface/assets/mg_base.urdf
View File

@ -13,7 +13,7 @@
<link name="base-link"> <link name="base-link">
<visual> <visual>
<geometry> <geometry>
<box size="0.5 0.5 0.2" color="yellow"/> <box size="0.24 0.32 0.12" color="yellow"/>
</geometry> </geometry>
<origin xyz="0 0 0.12" rpy="0 0 0" /> <origin xyz="0 0 0.12" rpy="0 0 0" />
<material name="red" /> <material name="red" />
@ -24,7 +24,7 @@
<visual> <visual>
<geometry> <geometry>
<cylinder radius="0.1" length="0.05"/> <cylinder radius="0.075" length="0.05"/>
</geometry> </geometry>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<material name="gray" /> <material name="gray" />
@ -34,7 +34,7 @@
<link name="right-wheel"> <link name="right-wheel">
<visual> <visual>
<geometry> <geometry>
<cylinder radius="0.1" length="0.05"/> <cylinder radius="0.075" length="0.05"/>
</geometry> </geometry>
<origin xyz="0 0 0." rpy="0 0 0" /> <origin xyz="0 0 0." rpy="0 0 0" />
<material name="gray" /> <material name="gray" />
@ -43,21 +43,25 @@
<joint name="right_motor" type="continuous"> <joint name="right_motor" type="continuous">
<parent link="base-link"/> <parent link="base-link"/>
<child link="right-wheel"/> <child link="right-wheel"/>
<origin xyz="0 -0.25 0.1" rpy="1.57 0 0" /> <origin xyz="0 -0.16 0.075" rpy="1.57 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
<joint name="left_motor" type="continuous"> <joint name="left_motor" type="continuous">
<parent link="base-link"/> <parent link="base-link"/>
<child link="left-wheel"/> <child link="left-wheel"/>
<origin xyz="0 0.25 0.1" rpy="1.57 0 0" /> <origin xyz="0 0.16 0.075" rpy="1.57 0 0" />
<axis xyz="0 0 1"/> <axis xyz="0 0 1"/>
</joint> </joint>
<ros2_control name="mg-base" type="system"> <ros2_control name="mg-base" type="system">
<hardware> <hardware>
<!--
<plugin>mg_wheel_interface/MgOdriveInterface</plugin> <plugin>mg_wheel_interface/MgOdriveInterface</plugin>
-->
<plugin>mock_components/GenericSystem</plugin>
<param name="calculate_dynamics">true</param>
</hardware> </hardware>
<joint name="left_motor"> <joint name="left_motor">
<command_interface name="velocity"/> <command_interface name="velocity"/>

6
mg_wheel_interface/assets/mg_base_controllers.yaml
View File

@ -16,7 +16,7 @@ diffdrive_controller:
odom_frame_id: odom odom_frame_id: odom
base_frame_id: base-link base_frame_id: base-link
open_loop: true open_loop: true
wheel_separation: 0.0964 wheel_separation: 0.258
wheel_radius: 0.035 wheel_radius: 0.075