From bb37f5e7e9ef6d69527875e2ef0b23f7608f83df Mon Sep 17 00:00:00 2001 From: MarcuSpade Date: Wed, 24 Apr 2024 14:55:04 -0300 Subject: [PATCH] Adding go2 urdf with champ compatibility, with Lidar and Velodyne --- robots/go2_description/CMakeLists.txt | 5 +- robots/go2_description/package.xml | 1 + .../go2_description/xacro/go2_generated.urdf | 946 +++++++++++++++++ .../xacro/go2_velodyne_description.urdf | 980 ++++++++++++++++++ robots/go2_description/xacro/robot.xacro | 11 + 5 files changed, 1941 insertions(+), 2 deletions(-) create mode 100644 robots/go2_description/xacro/go2_generated.urdf create mode 100644 robots/go2_description/xacro/go2_velodyne_description.urdf diff --git a/robots/go2_description/CMakeLists.txt b/robots/go2_description/CMakeLists.txt index a0cad9a..200ea18 100644 --- a/robots/go2_description/CMakeLists.txt +++ b/robots/go2_description/CMakeLists.txt @@ -2,8 +2,9 @@ cmake_minimum_required(VERSION 2.8.3) project(go2_description) -find_package(catkin REQUIRED) - +find_package(catkin REQUIRED + velodyne_description +) catkin_package() find_package(roslaunch) diff --git a/robots/go2_description/package.xml b/robots/go2_description/package.xml index ba52e13..f2738eb 100644 --- a/robots/go2_description/package.xml +++ b/robots/go2_description/package.xml @@ -15,6 +15,7 @@ for go2_description robot

rviz joint_state_publisher_gui gazebo + velodyne_description diff --git a/robots/go2_description/xacro/go2_generated.urdf b/robots/go2_description/xacro/go2_generated.urdf new file mode 100644 index 0000000..2b53931 --- /dev/null +++ b/robots/go2_description/xacro/go2_generated.urdf @@ -0,0 +1,946 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + trunk + /apply_force/trunk + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 30 + 0 0 0 0 0 0 + false + + + + 1040 + 1 + 2.26892802759 + -2.26892802759 + + + + 0.2 + 30.0 + 0.01 + + + gaussian + 0.0 + 0.004 + + + + scan + hokuyo_frame + + + + + true + + true + 1000 + true + __default_topic__ + + trunk_imu + imu_link + 1000.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + + 0 0 0 0 0 0 + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + FR_foot_contact + + + + + + + FL_foot_contact + + + + + + + RR_foot_contact + + + + + + + RL_foot_contact + + + + + false + + + 0.2 + 0.2 + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/robots/go2_description/xacro/go2_velodyne_description.urdf b/robots/go2_description/xacro/go2_velodyne_description.urdf new file mode 100644 index 0000000..238a644 --- /dev/null +++ b/robots/go2_description/xacro/go2_velodyne_description.urdf @@ -0,0 +1,980 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + trunk + /apply_force/trunk + + + + true + + true + 1000 + true + __default_topic__ + + trunk_imu + imu_link + 1000.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + + 0 0 0 0 0 0 + + + + + + 100 + + + FR_calf_fixed_joint_lump__FR_foot_collision_1 + + + + + + 100 + + + FL_calf_fixed_joint_lump__FL_foot_collision_1 + + + + + + 100 + + + RR_calf_fixed_joint_lump__RR_foot_collision_1 + + + + + + 100 + + + RL_calf_fixed_joint_lump__RL_foot_collision_1 + + + + + + + + FR_foot_contact + + + + + + + FL_foot_contact + + + + + + + RR_foot_contact + + + + + + + RL_foot_contact + + + + + false + + + 0.2 + 0.2 + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + 0.2 + 0.2 + + + 0.2 + 0.2 + 1 + + + + + 0.2 + 0.2 + 1 + + + 0.6 + 0.6 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + false + 10 + + + + 440 + 1 + -3.141592653589793 + 3.141592653589793 + + + 16 + 1 + -0.2617993877991494 + 0.2617993877991494 + + + + 0.3 + 131.0 + 0.001 + + + gaussian + 0.0 + 0.0 + + + + /velodyne_points + velodyne + False + 0.9 + 130.0 + 0.008 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + diff --git a/robots/go2_description/xacro/robot.xacro b/robots/go2_description/xacro/robot.xacro index c03da97..aa5a81e 100755 --- a/robots/go2_description/xacro/robot.xacro +++ b/robots/go2_description/xacro/robot.xacro @@ -10,6 +10,12 @@ + + + + + + @@ -35,6 +41,11 @@ + + + + +