290 lines
9.0 KiB
XML
290 lines
9.0 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find gz_quadruped_hardware)/xacro/foot_force_sensor.xacro"/>
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gz_quadruped_hardware/GazeboSimSystem</plugin>
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</hardware>
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<joint name="FR_HipX">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_HipY">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FR_Knee">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_HipX">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_HipY">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="FL_Knee">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HR_HipX">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HR_HipY">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HR_Knee">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HL_HipX">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HL_HipY">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="HL_Knee">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<command_interface name="kp"/>
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<command_interface name="kd"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<sensor name="imu_sensor">
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<state_interface name="orientation.x"/>
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<state_interface name="orientation.y"/>
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<state_interface name="orientation.z"/>
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<state_interface name="orientation.w"/>
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<state_interface name="angular_velocity.x"/>
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<state_interface name="angular_velocity.y"/>
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<state_interface name="angular_velocity.z"/>
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<state_interface name="linear_acceleration.x"/>
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<state_interface name="linear_acceleration.y"/>
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<state_interface name="linear_acceleration.z"/>
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</sensor>
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<sensor name="foot_force">
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<state_interface name="FR_foot_force"/>
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<state_interface name="FL_foot_force"/>
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<state_interface name="HR_foot_force"/>
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<state_interface name="HL_foot_force"/>
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</sensor>
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</ros2_control>
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<gazebo>
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<plugin filename="gz_quadruped_hardware-system" name="gz_quadruped_hardware::GazeboSimQuadrupedPlugin">
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<parameters>$(find lite3_description)/config/gazebo.yaml</parameters>
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</plugin>
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<plugin filename="gz-sim-imu-system"
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name="gz::sim::systems::Imu">
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</plugin>
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<plugin filename="gz-sim-forcetorque-system" name="gz::sim::systems::ForceTorque"/>
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<!-- <plugin filename="gz-sim-odometry-publisher-system"-->
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<!-- name="gz::sim::systems::OdometryPublisher">-->
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<!-- <odom_frame>odom</odom_frame>-->
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<!-- <robot_base_frame>base</robot_base_frame>-->
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<!-- <odom_publish_frequency>1000</odom_publish_frequency>-->
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<!-- <odom_topic>odom</odom_topic>-->
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<!-- <dimensions>3</dimensions>-->
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<!-- <odom_covariance_topic>odom_with_covariance</odom_covariance_topic>-->
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<!-- <tf_topic>tf</tf_topic>-->
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<!-- </plugin>-->
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</gazebo>
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<gazebo reference="trunk">
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<mu1>0.6</mu1>
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<mu2>0.6</mu2>
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<self_collide>1</self_collide>
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</gazebo>
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<gazebo reference="imu_link">
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>500</update_rate>
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<visualize>true</visualize>
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<topic>imu</topic>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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<bias_mean>0.0000075</bias_mean>
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<bias_stddev>0.0000008</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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</gazebo>
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<gazebo reference="imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>
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<xacro:foot_force_sensor name="FL" suffix="Ankle"/>
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<xacro:foot_force_sensor name="HL" suffix="Ankle"/>
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<xacro:foot_force_sensor name="FR" suffix="Ankle"/>
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<xacro:foot_force_sensor name="HR" suffix="Ankle"/>
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<xacro:arg name="EXTERNAL_SENSORS" default="false"/>
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<xacro:if value="$(arg EXTERNAL_SENSORS)">
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<xacro:include filename="$(find gz_quadruped_playground)/models/D435/model.xacro"/>
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<xacro:include filename="$(find gz_quadruped_playground)/models/Lidar3DV1/model.xacro"/>
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<xacro:d435 camID="1" name="d435">
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<origin rpy="0 0.1 0" xyz="0.23 0 0.06"/>
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</xacro:d435>
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<xacro:Lidar3D vertical="16" name="lslidar">
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<origin rpy="0 0 0" xyz="0.163 0 0.058"/>
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</xacro:Lidar3D>
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</xacro:if>
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</robot>
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