Merge pull request #25 from clearpathrobotics/rkreinin/umx

Added UM6/7
clearpathrobotics · Jul 31, 2023 · d925685 · d925685
2 parents 0ed01ca + 301c616
commit d925685
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Showing 3 changed files with 79 additions and 2 deletions.
diff --git a/clearpath_generator_common/clearpath_generator_common/description/sensors.py b/clearpath_generator_common/clearpath_generator_common/description/sensors.py
@@ -34,7 +34,12 @@
 from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST10, SickLMS1XX
 from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
 from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
-from clearpath_config.sensors.types.imu import BaseIMU, Microstrain
+from clearpath_config.sensors.types.imu import (
+    BaseIMU,
+    CHRoboticsUM6,
+    Microstrain,
+    RedshiftUM7
+)
 from clearpath_config.sensors.types.gps import (
     Garmin18x,
     NovatelSmart6,
@@ -168,7 +173,9 @@ def __init__(self, sensor: IntelRealsense) -> None:
         SwiftNavDuro.SENSOR_MODEL: BaseDescription,
         Garmin18x.SENSOR_MODEL: BaseDescription,
         NovatelSmart6.SENSOR_MODEL: BaseDescription,
-        NovatelSmart7.SENSOR_MODEL: BaseDescription
+        NovatelSmart7.SENSOR_MODEL: BaseDescription,
+        CHRoboticsUM6.SENSOR_MODEL: ImuDescription,
+        RedshiftUM7.SENSOR_MODEL: ImuDescription
     }
 
     def __new__(cls, sensor: BaseSensor) -> BaseDescription:

diff --git a/clearpath_sensors_description/urdf/chrobotics_um6.urdf.xacro b/clearpath_sensors_description/urdf/chrobotics_um6.urdf.xacro
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="chrobotics_um6" params="name parent_link update_rate:=100 *origin">
+    <link name="${name}_base_link"/>
+
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <box size="0.02 0.02 0.005"/>
+        </geometry>
+        <material name="dark_grey" />
+      </visual>
+    </link>
+
+    <joint name="${name}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent_link}" />
+      <child link="${name}_base_link" />
+    </joint>
+
+    <joint name="${name}_joint" type="fixed">
+      <origin xyz="0 0 0.0025"/>
+      <parent link="${name}_base_link" />
+      <child link="${name}_link" />
+    </joint>
+
+    <gazebo reference="${name}_link">
+      <sensor type="imu" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <visualize>true</visualize>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>
diff --git a/clearpath_sensors_description/urdf/redshift_um7.urdf.xacro b/clearpath_sensors_description/urdf/redshift_um7.urdf.xacro
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="redshift_um7" params="name parent_link update_rate:=100 *origin">
+    <link name="${name}_base_link"/>
+
+    <link name="${name}_link">
+      <visual>
+        <geometry>
+          <box size="0.02 0.02 0.005"/>
+        </geometry>
+        <material name="dark_grey" />
+      </visual>
+    </link>
+
+    <joint name="${name}_base_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <parent link="${parent_link}" />
+      <child link="${name}_base_link" />
+    </joint>
+
+    <joint name="${name}_joint" type="fixed">
+      <origin xyz="0 0 0.0025"/>
+      <parent link="${name}_base_link" />
+      <child link="${name}_link" />
+    </joint>
+
+    <gazebo reference="${name}_link">
+      <sensor type="imu" name="${name}">
+        <always_on>true</always_on>
+        <update_rate>${update_rate}</update_rate>
+        <visualize>true</visualize>
+      </sensor>
+    </gazebo>
+  </xacro:macro>
+</robot>