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pimpest
2025-11-18 09:38:47 +01:00
commit a2491e7624
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toid_bot_description/src/toid_bot_description.urdf Normal file
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<?xml version="1.0"?>
<robot name="toid_bot" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="use_mock" default="true" />
<xacro:property name="base_width" value="0.31"/>
<xacro:property name="base_length" value="0.25"/>
<xacro:property name="base_height" value="0.34"/>
<xacro:property name="wheel_radius" value="0.04"/>
<xacro:property name="wheel_width" value="0.03"/>
<xacro:property name="wheel_zoff" value="0.03"/>
<xacro:property name="wheel_xoff" value="-0.07"/>
<xacro:property name="wheel_inset" value="0.01"/>
<xacro:property name="caster_radius" value="0.02"/>
<xacro:property name="caster_inset" value="0.04"/>
<xacro:property name="caster_xoff" value="0.10"/>
<xacro:property name="lidar_radius" value="0.03"/>
<xacro:property name="lidar_height" value="0.02"/>
<xacro:property name="lidar_xoff" value="0.09"/>
<xacro:property name="base_zoff" value="${-wheel_zoff + wheel_radius + base_height/2}"/>
<link name="base_link">
<visual>
<geometry>
<box size="${base_length} ${base_width} ${base_height}"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<link name="base_footprint"/>
<link name="lidar">
<visual>
<geometry>
<cylinder radius="${lidar_radius}" length="${lidar_height}"/>
</geometry>
<material name="White">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
</visual>
</link>
<joint name="base_joint" type="fixed">
<child link="base_link"/>
<parent link="base_footprint"/>
<origin xyz="0.0 0.0 ${base_zoff}" rpy="0 0 0"/>
</joint>
<joint name="lidar_joint" type="fixed">
<parent link="base_link"/>
<child link="lidar"/>
<origin xyz="${lidar_xoff} 0 ${(base_height + lidar_height)/2}" rpy="0 0 0"/>
</joint>
<xacro:macro name="wheel" params="prefix y_reflect">
<link name="${prefix}_link">
<visual>
<origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
<material name="Yellow">
<color rgba="0.8 0.8 0.3 1.0"/>
</material>
</visual>
</link>
<joint name="${prefix}_joint" type="continuous">
<parent link="base_link"/>
<child link="${prefix}_link"/>
<origin xyz="${wheel_xoff} ${y_reflect*(base_width/2 - wheel_inset)} ${wheel_zoff-base_height/2}" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>
<xacro:macro name="cstr" params="prefix y_reflect">
<link name="${prefix}_caster">
<visual>
<geometry>
<sphere radius="${caster_radius}"/>
</geometry>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<joint name="${prefix}_caster_joint" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_caster"/>
<origin xyz="${caster_xoff} ${y_reflect*(base_width/2 - caster_inset)} ${caster_radius-base_zoff}" rpy="0 0 0"/>
</joint>
</xacro:macro>
<xacro:wheel prefix="drivewhl_l" y_reflect="1" />
<xacro:wheel prefix="drivewhl_r" y_reflect="-1" />
<xacro:cstr prefix="left" y_reflect="1" />
<xacro:cstr prefix="right" y_reflect="-1" />
<xacro:include filename="$(find toid_bot_description)/src/toid_bot_control.xacro"/>
<xacro:toid_control name="toid_bot_control" use_mock_hardware="$(arg use_mock)"/>
</robot>