184 lines
5.1 KiB
XML
Executable File
184 lines
5.1 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot name="b2_description" 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="$(find b2_description)/xacro/const.xacro"/>
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<xacro:include filename="$(find b2_description)/xacro/materials.xacro"/>
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<xacro:include filename="$(find b2_description)/xacro/leg.xacro"/>
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<xacro:include filename="$(find b2_description)/xacro/ros2_control.xacro"/>
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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"/>
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</joint>
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</xacro:if>
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<link name="base">
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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"/>
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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://b2_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} ${trunk_height}"/>
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</geometry>
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</collision>
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<!-- <collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://b1_description/meshes/trunk.dae" scale="1 1 1"/>
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</geometry>
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</collision> -->
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<inertial>
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<origin rpy="0 0 0" xyz="${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 0 0" xyz="0 0 0"/>
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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="head_joint" type="fixed">
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<parent link="trunk"/>
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<child link="head_Link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="head_Link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.33989 -0.000168 0.12029"/>
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<mass value="3.366"/>
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<inertia
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ixx="0.026455"
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ixy="3.15E-05"
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ixz="0.00166"
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iyy="0.029221"
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iyz="-3.27E-05"
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izz="0.010918"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0.41 0 0.005"/>
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<geometry>
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<box size="0.04 0.12 0.14"/>
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</geometry>
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</collision>
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</link>
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<joint name="lidar_joint" type="fixed">
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<parent link="trunk"/>
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<child link="lidar_link"/>
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<origin rpy="0 0 0" xyz="0.34218 0 0.17851"/>
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</joint>
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<link name="lidar_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="6.55E-08"/>
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<inertia
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ixx="1.64E-15"
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ixy="0"
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ixz="-1.09E-47"
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iyy="1.64E-15"
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iyz="-1.32E-47"
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izz="1.64E-15"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 -0.02"/>
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<geometry>
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<cylinder length="0.16" radius="0.076"/>
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</geometry>
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</collision>
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</link>
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<joint name="tail_joint" type="fixed">
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<parent link="trunk"/>
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<child link="tail_link"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<link name="tail_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-0.37448 0.000488 0.006495"/>
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<mass value="0.777"/>
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<inertia
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ixx="0.0028118"
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ixy="1.95E-05"
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ixz="-7.87E-06"
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iyy="0.0047506"
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iyz="-1.57E-05"
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izz="0.0029154"/>
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</inertial>
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<collision>
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<origin rpy="0 0 0" xyz="-0.405 0 0.005"/>
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<geometry>
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<box size="0.025 0.12 0.14"/>
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</geometry>
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</collision>
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</link>
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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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<!-- <xacro:stairs stairs="15" xpos="0" ypos="2.0" zpos="0" /> -->
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</robot>
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