179 lines
5.9 KiB
XML
Executable File
179 lines
5.9 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot name="go2" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:arg name="DEBUG" default="false"/>
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<xacro:include filename="$(find go2_description)/xacro/const.xacro"/>
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<xacro:include filename="$(find go2_description)/xacro/materials.xacro"/>
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<xacro:include filename="$(find go2_description)/xacro/leg.xacro"/>
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<!-- <xacro:include filename="$(find go2_description)/xacro/stairs.xacro"/> -->
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<xacro:include filename="$(find go2_description)/xacro/gazebo.xacro"/>
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<!-- <xacro:include filename="$(find go2_gazebo)/launch/stairs.urdf.xacro"/> -->
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<!-- <xacro:stairs stairs="15" xpos="0" ypos="0" zpos="0" /> -->
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<!-- Rotor related joint and link is only for demonstrate location. -->
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<!-- Actually, the rotor will rotate and the joint is not fixed. Reduction ratio should be considered. -->
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<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
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<xacro:if value="$(arg DEBUG)">
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<link name="world"/>
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<joint name="base_static_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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</xacro:if>
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<link name="base_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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</link>
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<joint name="floating_base" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<parent link="base_link"/>
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<child link="trunk"/>
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</joint>
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<link name="trunk">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://go2_description/meshes/trunk.dae" scale="1 1 1"/>
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</geometry>
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<!-- <material name="orange"/> -->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="${trunk_length} ${trunk_width} ${trunk_height}"/>
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</geometry>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="${trunk_com_x} ${trunk_com_y} ${trunk_com_z}"/>
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<mass value="${trunk_mass}"/>
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<inertia
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ixx="${trunk_ixx}" ixy="${trunk_ixy}" ixz="${trunk_ixz}"
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iyy="${trunk_iyy}" iyz="${trunk_iyz}"
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izz="${trunk_izz}"/>
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</inertial>
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</link>
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<joint name="imu_joint" type="fixed">
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<parent link="trunk"/>
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<child link="imu_link"/>
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<origin rpy="0.001697 -0.020900 -0.000007" xyz="-0.027353 -0.005499 0.039913"/>
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</joint>
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<link name="imu_link">
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<inertial>
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<mass value="0.001"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".001 .001 .001"/>
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</geometry>
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</collision>
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</link>
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<joint name="vicon_joint" type="fixed">
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<parent link="trunk"/>
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<child link="vicon_link"/>
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<origin rpy="-0.037935 -0.066371 -2.668897" xyz="0.022944 -0.000007 0.058458"/>
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</joint>
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<link name="vicon_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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</link>
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<joint name="infra1_joint" type="fixed">
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<parent link="trunk"/>
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<child link="infra1_link"/>
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<origin rpy="-1.641669 -0.014332 -1.617155" xyz="0.321618 0.033305 0.081622"/>
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</joint>
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<link name="infra1_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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</link>
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<joint name="infra2_joint" type="fixed">
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<parent link="trunk"/>
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<child link="infra1_link"/>
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<origin rpy="-1.640637 -0.014093 -1.611177" xyz="0.317969 -0.061919 0.082773"/>
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</joint>
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<link name="infra2_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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</link>
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<joint name="color_joint" type="fixed">
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<parent link="trunk"/>
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<child link="color_link"/>
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<origin rpy="-1.640491 -0.011125 -1.610364" xyz="0.319415 -0.025790 0.082311"/>
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</joint>
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<link name="color_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.001 0.001 0.001"/>
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</geometry>
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<!-- <material name="red"/> -->
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</visual>
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</link>
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<link name="utlidar">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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</link>
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<joint name="utlidar_joint" type="fixed">
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<origin rpy="0 2.8782 0" xyz="0.28945 0 -0.046825"/>
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<parent link="base_link"/>
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<child link="utlidar"/>
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<axis xyz="0 0 0"/>
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</joint>
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<xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1" front_hind_dae="True" />
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<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True" />
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<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False" />
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<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False" />
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</robot>
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