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🙅‍♂️ [Multimap - manual merge] #6

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🙅‍♂️ [Multimap - manual merge] #6

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63 changes: 63 additions & 0 deletions summit_xl_description/meshes/bases/hls/summit_xl_hls_chassis_waterloo.dae
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149 changes: 149 additions & 0 deletions summit_xl_description/robots/summit_xls_171102A.urdf.xacro
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<?xml version="1.0"?>
<robot name="summit_xl" xmlns:xacro="http://www.ros.org/wiki/xacro">


<!-- ***************** -->
<!-- Imported elements -->
<!-- ***************** -->

<!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->

<!-- Import summit XL base elements -->
<xacro:include filename="$(find summit_xl_description)/urdf/bases/summit_xls_base_waterloo.urdf.xacro" />

<!-- Import summit XL wheels -->
<xacro:include filename="$(find summit_xl_description)/urdf/wheels/omni_wheel.urdf.xacro" />
<xacro:include filename="$(find summit_xl_description)/urdf/wheels/rubber_wheel.urdf.xacro" />
<xacro:include filename="$(find summit_xl_description)/urdf/structures/structure_hokuyo.urdf.xacro" />

<!-- Import all available sensors -->
<xacro:include filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />

<xacro:property name="PI" value="3.1415926535897931"/>

<!-- Wheel parameters -->
<!-- Wheel parameters -->
<xacro:property name="wheel_offset_x" value="0.2225" /> <!-- x,y,z in translation from base_link to the center of the wheel -->
<xacro:property name="wheel_offset_y" value="0.2045" />
<xacro:property name="wheel_offset_z" value="0.0" />

<!--xacro:property name="front_laser_offset_x" value="0.377"/>
<xacro:property name="front_laser_offset_y" value="-0.20957"/>
<xacro:property name="front_laser_offset_z" value="0.2024"/-->

<xacro:property name="front_laser_offset_x" value="0.3577"/>
<xacro:property name="front_laser_offset_y" value="-0.228"/>
<xacro:property name="front_laser_offset_z" value="0.2024"/>

<xacro:property name="rear_laser_offset_x" value="-0.377"/>
<xacro:property name="rear_laser_offset_y" value="0.20957"/>
<xacro:property name="rear_laser_offset_z" value="0.2024"/>

<xacro:property name="front_ptz_camera_offset_x" value="0.308"/>
<xacro:property name="front_ptz_camera_offset_y" value="0.155"/>
<xacro:property name="front_ptz_camera_offset_z" value="0.317"/>

<xacro:property name="rear_ptz_camera_offset_x" value="-0.308"/>
<xacro:property name="rear_ptz_camera_offset_y" value="-0.155"/>
<xacro:property name="rear_ptz_camera_offset_z" value="0.317"/>

<xacro:property name="imu_offset_x" value="0.25"/>
<xacro:property name="imu_offset_y" value="-0.15"/>
<xacro:property name="imu_offset_z" value="0.18"/>

<xacro:property name="front_rgbd_camera_offset_x" value="0.324"/>
<xacro:property name="front_rgbd_camera_offset_y" value="0.012"/>
<xacro:property name="front_rgbd_camera_offset_z" value="0.272"/>

<xacro:property name="gps_offset_x" value="-0.365"/>
<xacro:property name="gps_offset_y" value="-0.167"/>
<xacro:property name="gps_offset_z" value="0.302"/>

<!-- Flag to select the high or low quality model -->
<xacro:property name="hq" value="true" />

<xacro:arg name="prefix" default="summit_xl_"/>


<xacro:macro name="summit_xl" params="prefix publish_bf hq">

<!-- *************** -->
<!-- Robots Elements -->
<!-- *************** -->

<!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->

<!-- Summit XL base -->
<xacro:summit_xl_hls_base prefix="$(arg prefix)" publish_bf="true" hq="${hq}" />

<xacro:omni_wheel prefix="$(arg prefix)front_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
<origin xyz="${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:omni_wheel>

<xacro:omni_wheel prefix="$(arg prefix)front_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
<origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:omni_wheel>

<xacro:omni_wheel prefix="$(arg prefix)back_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
<origin xyz="-${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:omni_wheel>

<xacro:omni_wheel prefix="$(arg prefix)back_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
<origin xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:omni_wheel>
<!-- IMU -->
<xacro:sensor_imu_hector prefix="$(arg prefix)imu" parent="$(arg prefix)base_link">
<origin xyz="-0.09 -0.11 0.170" rpy="0 0 0"/>
</xacro:sensor_imu_hector>

<!-- Structures -->
<xacro:structure_laser prefix="$(arg prefix)front_laser_structure" parent="$(arg prefix)base_link">
<origin xyz="0.303 -0.160 0.155" rpy="0 0 0" />
</xacro:structure_laser>
<!--xacro:structure_laser prefix="$(arg prefix)rear_laser_structure" parent="$(arg prefix)base_link">
<origin xyz="-0.303 0.160 0.155" rpy="0 0 ${PI}" />
</xacro:structure_laser-->

<!-- SENSORS -->
<xacro:sensor_vlp16 prefix="$(arg prefix)front_laser" parent="$(arg prefix)base_link">
<origin xyz="${front_laser_offset_x} ${front_laser_offset_y} ${front_laser_offset_z}" rpy="0 0 0"/>
</xacro:sensor_vlp16>


<!--xacro:sensor_hokuyo_ust10lx prefix="$(arg prefix)front_laser" parent="$(arg prefix)base_link" prefix_topic="front_laser">
<origin xyz="${front_laser_offset_x} ${front_laser_offset_y} ${front_laser_offset_z}" rpy="0 0 ${-PI/4.0}"/>
</xacro:sensor_hokuyo_ust10lx-->

<!--xacro:sensor_hokuyo_ust10lx prefix="$(arg prefix)rear_laser" parent="$(arg prefix)base_link" prefix_topic="rear_laser">
<origin xyz="${rear_laser_offset_x} ${rear_laser_offset_y} ${rear_laser_offset_z}" rpy="0 0 ${3.0*PI/4.0}"/>
</xacro:sensor_hokuyo_ust10lx-->

<xacro:sensor_axis_m5013 prefix="$(arg prefix)front_ptz_camera" parent="$(arg prefix)base_link">
<origin xyz="${front_ptz_camera_offset_x} ${front_ptz_camera_offset_y} ${front_ptz_camera_offset_z}" rpy="${-PI/2} 0 0"/>
</xacro:sensor_axis_m5013>

<xacro:sensor_axis_m5013 prefix="$(arg prefix)rear_ptz_camera" parent="$(arg prefix)base_link">
<origin xyz="${rear_ptz_camera_offset_x} ${rear_ptz_camera_offset_y} ${rear_ptz_camera_offset_z}" rpy="${-PI/2} 0 ${PI}"/>
</xacro:sensor_axis_m5013>


<xacro:sensor_orbbec_astra prefix="$(arg prefix)front_rgbd_camera" parent="$(arg prefix)base_link" prefix_topic="front_rgbd_camera">
<origin xyz="${front_rgbd_camera_offset_x} ${front_rgbd_camera_offset_y} ${front_rgbd_camera_offset_z}" rpy="0 0 0"/>
</xacro:sensor_orbbec_astra>

<!--xacro:sensor_gps prefix="$(arg prefix)gps" parent="$(arg prefix)base_link">
<origin xyz="${gps_offset_x} ${gps_offset_y} ${gps_offset_z}" rpy="0 0 0"/>
</xacro:sensor_gps-->



</xacro:macro>

<!-- Gazebo ros control pluggins -->
<xacro:ros_control/>

<xacro:summit_xl prefix="$(arg prefix)" publish_bf="true" hq="true"/>


</robot>

5 changes: 5 additions & 0 deletions summit_xl_description/robots/versions/summit_xl_180307A.urdf.xacro
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<!--xacro:sensor_axis prefix="$(arg prefix)front_ptz_camera" parent="$(arg prefix)base_link">
<origin xyz="0.19 0 0.26" rpy="0 ${15*PI/180} 0"/>
</xacro:sensor_axis-->

<!--xacro:sensor_vlp16 prefix="$(arg prefix)front_laser" parent="$(arg prefix)base_link" prefix_topic="front_laser">
<origin xyz="0.0 0.0 0.33" rpy="0 0 0"/>
</xacro:sensor_vlp16-->

<!-- RGBD -->
<!--xacro:sensor_orbbec_astra prefix="$(arg prefix)front_rgbd_camera" parent="$(arg prefix)base_link" prefix_topic="front_rgbd_camera">
<origin xyz="0.324 0.012 0.172" rpy="0 0 0"/>
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143 changes: 143 additions & 0 deletions summit_xl_description/robots/versions/summit_xls_170703A.urdf.xacro
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<?xml version="1.0"?>
<robot name="summit_xl" xmlns:xacro="http://www.ros.org/wiki/xacro">


<!-- ***************** -->
<!-- Imported elements -->
<!-- ***************** -->

<!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->

<!-- Import summit XL base elements -->
<xacro:include filename="$(find summit_xl_description)/urdf/bases/summit_xl_hls_base.urdf.xacro" />

<!-- Import summit XL wheels -->
<xacro:include filename="$(find summit_xl_description)/urdf/wheels/omni_wheel.urdf.xacro" />
<xacro:include filename="$(find summit_xl_description)/urdf/wheels/rubber_wheel.urdf.xacro" />
<xacro:include filename="$(find summit_xl_description)/urdf/structures/structure_hokuyo.urdf.xacro" />

<!-- Import all available sensors -->
<xacro:include filename="$(find robotnik_sensors)/urdf/all_sensors.urdf.xacro" />

<xacro:property name="PI" value="3.1415926535897931"/>

<!-- Wheel parameters -->
<!-- Wheel parameters -->
<xacro:property name="wheel_offset_x" value="0.2225" /> <!-- x,y,z in translation from base_link to the center of the wheel -->
<xacro:property name="wheel_offset_y" value="0.2045" />
<xacro:property name="wheel_offset_z" value="0.0" />

<xacro:property name="front_laser_offset_x" value="0.377"/>
<xacro:property name="front_laser_offset_y" value="-0.20957"/>
<xacro:property name="front_laser_offset_z" value="0.2024"/>

<xacro:property name="rear_laser_offset_x" value="-0.377"/>
<xacro:property name="rear_laser_offset_y" value="0.20957"/>
<xacro:property name="rear_laser_offset_z" value="0.2024"/>

<xacro:property name="front_ptz_camera_offset_x" value="0.308"/>
<xacro:property name="front_ptz_camera_offset_y" value="0.141"/>
<xacro:property name="front_ptz_camera_offset_z" value="0.195"/>

<xacro:property name="rear_ptz_camera_offset_x" value="-0.308"/>
<xacro:property name="rear_ptz_camera_offset_y" value="-0.141"/>
<xacro:property name="rear_ptz_camera_offset_z" value="0.195"/>

<xacro:property name="imu_offset_x" value="0.25"/>
<xacro:property name="imu_offset_y" value="-0.15"/>
<xacro:property name="imu_offset_z" value="0.18"/>

<xacro:property name="front_rgbd_camera_offset_x" value="0.324"/>
<xacro:property name="front_rgbd_camera_offset_y" value="0.012"/>
<xacro:property name="front_rgbd_camera_offset_z" value="0.230"/>

<xacro:property name="gps_offset_x" value="-0.365"/>
<xacro:property name="gps_offset_y" value="-0.167"/>
<xacro:property name="gps_offset_z" value="0.302"/>

<!-- Flag to select the high or low quality model -->
<xacro:property name="hq" value="true" />

<xacro:arg name="prefix" default="summit_xl_"/>
<xacro:arg name="ros_planar_move_plugin" default="false"/>


<xacro:macro name="summit_xl" params="prefix publish_bf hq">

<!-- *************** -->
<!-- Robots Elements -->
<!-- *************** -->

<!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->

<!-- Summit XL base -->
<xacro:summit_xl_hls_base prefix="$(arg prefix)" publish_bf="true" hq="${hq}" />

<xacro:rubber_wheel prefix="$(arg prefix)front_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
<origin xyz="${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:rubber_wheel>

<xacro:rubber_wheel prefix="$(arg prefix)front_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
<origin xyz="${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:rubber_wheel>

<xacro:rubber_wheel prefix="$(arg prefix)back_left" parent="$(arg prefix)base_link" reflect="true" hq="${hq}">
<origin xyz="-${wheel_offset_x} ${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:rubber_wheel>

<xacro:rubber_wheel prefix="$(arg prefix)back_right" parent="$(arg prefix)base_link" reflect="false" hq="${hq}">
<origin xyz="-${wheel_offset_x} -${wheel_offset_y} ${wheel_offset_z}" rpy="0 0 0"/>
</xacro:rubber_wheel>
<!-- IMU -->
<xacro:sensor_imu_hector prefix="$(arg prefix)imu" parent="$(arg prefix)base_link">
<origin xyz="-0.18 0.0 0.170" rpy="0 0 0"/>
</xacro:sensor_imu_hector>


<!-- Structures -->
<!--xacro:structure_laser prefix="$(arg prefix)front_laser_structure" parent="$(arg prefix)base_link">
<origin xyz="0.303 -0.160 0.155" rpy="0 0 0" />
</xacro:structure_laser>
<xacro:structure_laser prefix="$(arg prefix)rear_laser_structure" parent="$(arg prefix)base_link">
<origin xyz="-0.303 0.160 0.155" rpy="0 0 ${PI}" />
</xacro:structure_laser-->

<!-- SENSORS -->
<!--xacro:sensor_hokuyo_ust10lx prefix="$(arg prefix)front_laser" parent="$(arg prefix)base_link" prefix_topic="front_laser">
<origin xyz="${front_laser_offset_x} ${front_laser_offset_y} ${front_laser_offset_z}" rpy="0 0 ${-PI/4.0}"/>
</xacro:sensor_hokuyo_ust10lx>

<xacro:sensor_hokuyo_ust10lx prefix="$(arg prefix)rear_laser" parent="$(arg prefix)base_link" prefix_topic="rear_laser">
<origin xyz="${rear_laser_offset_x} ${rear_laser_offset_y} ${rear_laser_offset_z}" rpy="0 0 ${3.0*PI/4.0}"/>
</xacro:sensor_hokuyo_ust10lx-->

<xacro:sensor_axis_m5013 prefix="$(arg prefix)front_ptz_camera" parent="$(arg prefix)base_link">
<origin xyz="${front_ptz_camera_offset_x} ${front_ptz_camera_offset_y} ${front_ptz_camera_offset_z}" rpy="${-PI/2} 0 0"/>
</xacro:sensor_axis_m5013>

<xacro:sensor_axis_m5013 prefix="$(arg prefix)rear_ptz_camera" parent="$(arg prefix)base_link">
<origin xyz="${rear_ptz_camera_offset_x} ${rear_ptz_camera_offset_y} ${rear_ptz_camera_offset_z}" rpy="${-PI/2} 0 ${PI}"/>
</xacro:sensor_axis_m5013>


<!--xacro:sensor_orbbec_astra prefix="$(arg prefix)front_rgbd_camera" parent="$(arg prefix)base_link" prefix_topic="front_rgbd_camera">
<origin xyz="${front_rgbd_camera_offset_x} ${front_rgbd_camera_offset_y} ${front_rgbd_camera_offset_z}" rpy="0 0 0"/>
</xacro:sensor_orbbec_astra-->

<xacro:sensor_gps prefix="$(arg prefix)gps" parent="$(arg prefix)base_link">
<origin xyz="${gps_offset_x} ${gps_offset_y} ${gps_offset_z}" rpy="0 0 0"/>
</xacro:sensor_gps>

</xacro:macro>

<xacro:ros_control/>

<xacro:if value="$(arg ros_planar_move_plugin)">
<xacro:omni_steering prefix="$(arg prefix)" publish_tf="false"/>
</xacro:if>

<xacro:summit_xl prefix="$(arg prefix)" publish_bf="true" hq="true"/>


</robot>

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