Add lynx mesh and use base_footprint

husarion · Dec 5, 2024 · c86139e · c86139e
1 parent 2513a07
commit c86139e
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Showing 15 changed files with 496 additions and 122 deletions.
diff --git a/husarion_ugv_description/meshes/WH05/fl_wheel.dae b/husarion_ugv_description/meshes/WH05/fl_wheel.dae
diff --git a/husarion_ugv_description/meshes/WH05/fr_wheel.dae b/husarion_ugv_description/meshes/WH05/fr_wheel.dae
diff --git a/husarion_ugv_description/meshes/WH05/rl_wheel.dae b/husarion_ugv_description/meshes/WH05/rl_wheel.dae
diff --git a/husarion_ugv_description/meshes/WH05/rr_wheel.dae b/husarion_ugv_description/meshes/WH05/rr_wheel.dae
diff --git a/husarion_ugv_description/meshes/lynx/base.dae b/husarion_ugv_description/meshes/lynx/base.dae
diff --git a/husarion_ugv_description/meshes/lynx/battery.dae b/husarion_ugv_description/meshes/lynx/battery.dae
diff --git a/husarion_ugv_description/meshes/lynx/user_compartment.dae b/husarion_ugv_description/meshes/lynx/user_compartment.dae
diff --git a/...n_ugv_description/meshes/panther/body.dae → ...n_ugv_description/meshes/panther/base.dae b/...n_ugv_description/meshes/panther/body.dae → ...n_ugv_description/meshes/panther/base.dae
diff --git a/...ription/meshes/panther/body_collision.stl → ...ription/meshes/panther/base_collision.stl b/...ription/meshes/panther/body_collision.stl → ...ription/meshes/panther/base_collision.stl
diff --git a/...description/urdf/panther/wheel.urdf.xacro → ..._description/urdf/common/wheel.urdf.xacro b/...description/urdf/panther/wheel.urdf.xacro → ..._description/urdf/common/wheel.urdf.xacro
@@ -31,7 +31,7 @@
 
     <joint name="${prefix}_wheel_joint" type="continuous">
       <origin xyz="${x} ${y} 0.0" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="${prefix}_wheel_link" />
       <axis xyz="0.0 1.0 0.0" />
 
@@ -43,8 +43,7 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh
-            filename="package://${wheel_config['mesh_package']}/${wheel_config['folder_path']}/${prefix}_wheel.dae" />
+          <mesh filename="package://${wheel_config['mesh_package']}/${wheel_config['folder_path']}/${prefix}_wheel.dae" />
         </geometry>
       </visual>
 

diff --git a/husarion_ugv_description/urdf/lynx/body.urdf.xacro b/husarion_ugv_description/urdf/lynx/body.urdf.xacro
@@ -1,33 +1,29 @@
 <?xml version="1.0" encoding="utf-8"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
-  <!-- body defining macro -->
   <xacro:macro
     name="body"
     params="wheel_radius imu_xyz imu_rpy">
 
-    <link name="base_link" />
+    <link name="base_footprint" />
 
     <joint name="base_to_body_joint" type="fixed">
       <origin xyz="0.0 0.0 ${wheel_radius}" rpy="0.0 0.0 0.0" />
-      <parent link="base_link" />
-      <child link="body_link" />
+      <parent link="base_footprint" />
+      <child link="base_link" />
     </joint>
 
-    <link name="body_link">
+    <link name="base_link">
       <visual>
-        <origin xyz="0.0 0.0 0.0745" rpy="0.0 0.0 0.0" />
         <geometry>
-          <!-- TODO cheange when models ready -->
-          <!-- <mesh filename="package://husarion_ugv_description/meshes/panther/body.dae" /> -->
-          <box size="0.646 0.34 0.268" />
+          <mesh filename="package://husarion_ugv_description/meshes/lynx/base.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0745" rpy="0.0 0.0 0.0" />
         <geometry>
-          <!-- TODO cheange when models ready -->
+          <!-- TODO change when models ready -->
           <!-- <mesh filename="package://husarion_ugv_description/meshes/panther/body_collision.stl" /> -->
           <box size="0.646 0.34 0.268" />
         </geometry>
@@ -43,18 +39,77 @@
       </inertial>
     </link>
 
+    <joint name="base_to_user_compartment_joint" type="fixed">
+      <origin xyz="0.0 0.0 0.00535" rpy="0.0 0.0 0.0" />
+      <parent link="base_link" />
+      <child link="user_compartment_link" />
+    </joint>
+
+    <link name="user_compartment_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://husarion_ugv_description/meshes/lynx/user_compartment.dae" />
+        </geometry>
+      </visual>
+
+      <!-- TODO change when models ready -->
+      <!-- <collision>
+        <geometry>
+          <mesh filename="package://husarion_ugv_description/meshes/panther/user_compartment_collision.stl" />
+        </geometry>
+      </collision> -->
+
+      <inertial>
+        <!-- TODO calculate real interia -->
+        <mass value="30.0" />
+        <inertia ixx="0.46856"  ixy="0.0"     ixz="0.0"
+                                iyy="1.22285" iyz="0.0"
+                                              izz="1.51185" />
+      </inertial>
+    </link>
+
+    <joint name="base_to_battery_joint" type="fixed">
+      <origin xyz="-0.2628 -0.07945 0.07265" rpy="0.0 0.0 0.0" />
+      <parent link="base_link" />
+      <child link="battery_link" />
+    </joint>
+
+    <link name="battery_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://husarion_ugv_description/meshes/lynx/battery.dae" />
+        </geometry>
+      </visual>
+
+      <!-- TODO change when models ready -->
+      <!-- <collision>
+        <geometry>
+          <mesh filename="package://husarion_ugv_description/meshes/panther/battery_collision.stl" />
+        </geometry>
+      </collision> -->
+
+
+      <inertial>
+        <mass value="30.0" />
+        <!-- TODO calculate real interia -->
+        <inertia ixx="0.46856"  ixy="0.0"     ixz="0.0"
+                                iyy="1.22285" iyz="0.0"
+                                              izz="1.51185" />
+      </inertial>
+    </link>
+
     <joint name="body_to_imu_joint" type="fixed">
       <origin xyz="${imu_xyz}" rpy="${imu_rpy}" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="imu_link" />
     </joint>
 
     <link name="imu_link" />
 
     <joint name="body_to_cover_joint" type="fixed">
-      <!-- TODO cheange to real value -->
+      <!-- TODO change to real value -->
       <origin xyz="0.0 0.0 0.2085" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="cover_link" />
     </joint>
 

diff --git a/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
@@ -25,7 +25,7 @@
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
     <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/body.urdf.xacro" ns="body" />
     <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/wheel.urdf.xacro" ns="wheel" />
+    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
     <xacro:body.body

diff --git a/husarion_ugv_description/urdf/lynx/wheel.urdf.xacro b/husarion_ugv_description/urdf/lynx/wheel.urdf.xacro
diff --git a/husarion_ugv_description/urdf/panther/body.urdf.xacro b/husarion_ugv_description/urdf/panther/body.urdf.xacro
@@ -6,30 +6,31 @@
     name="body"
     params="wheel_radius imu_xyz imu_rpy">
 
-    <link name="base_link" />
+    <link name="base_footprint" />
 
     <joint name="base_to_body_joint" type="fixed">
       <origin xyz="0.0 0.0 ${wheel_radius}" rpy="0.0 0.0 0.0" />
-      <parent link="base_link" />
-      <child link="body_link" />
+      <parent link="base_footprint" />
+      <child link="base_link" />
     </joint>
 
-    <link name="body_link">
+    <link name="base_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/body.dae" />
+          <mesh filename="package://husarion_ugv_description/meshes/panther/base.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/body_collision.stl" />
+          <mesh filename="package://husarion_ugv_description/meshes/panther/base_collision.stl" />
         </geometry>
       </collision>
 
       <inertial>
+        <!-- TODO: Fix oringin -->
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <mass value="43.0" />
         <inertia ixx="2.630036" ixy="-0.023480" ixz="0.052320"
@@ -40,15 +41,15 @@
 
     <joint name="body_to_imu_joint" type="fixed">
       <origin xyz="${imu_xyz}" rpy="${imu_rpy}" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="imu_link" />
     </joint>
 
     <link name="imu_link" />
 
     <joint name="body_to_front_bumper_joint" type="fixed">
       <origin xyz="0.362 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="front_bumper_link" />
     </joint>
 
@@ -64,7 +65,7 @@
 
     <joint name="body_to_rear_bumper_joint" type="fixed">
       <origin xyz="-0.362 0.0 0.0" rpy="0.0 0.0 ${pi}" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="rear_bumper_link" />
     </joint>
 
@@ -80,7 +81,7 @@
 
     <joint name="body_to_cover_joint" type="fixed">
       <origin xyz="0.0 0.0 0.1715" rpy="0.0 0.0 0.0" />
-      <parent link="body_link" />
+      <parent link="base_link" />
       <child link="cover_link" />
     </joint>
 

diff --git a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
@@ -24,7 +24,7 @@
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
     <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/body.urdf.xacro" ns="body" />
     <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/wheel.urdf.xacro" ns="wheel" />
+    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
     <xacro:body.body