From 59c228646afe51bb5e8629825bb03f11b60c022b Mon Sep 17 00:00:00 2001 From: Ben Wolsieffer Date: Fri, 24 Jun 2016 15:45:14 -0400 Subject: [PATCH] Refactor URDF to support differences between Create 1 and 2, while using a common base. Include a mesh for the Create 1, borrowed from turtlebot_create. Update launch files to support Create 1. --- ca_description/README.md | 4 +- ca_description/launch/create_1.launch | 5 + ca_description/launch/create_2.launch | 3 +- ca_description/meshes/create_1.dae | 348 ++++++++++++++++++ ca_description/meshes/create_1.tga | Bin 0 -> 60699 bytes ca_description/meshes/create_2.dae | 200 ++++++---- ca_description/urdf/create_1.urdf.xacro | 9 + .../urdf/create_1_gazebo.urdf.xacro | 4 + ca_description/urdf/create_2.urdf.xacro | 9 + ca_description/urdf/create_2_base.urdf.xacro | 278 -------------- .../urdf/create_2_gazebo.urdf.xacro | 231 +----------- ca_description/urdf/create_base.urdf.xacro | 236 ++++++++++++ .../urdf/create_base_gazebo.urdf.xacro | 207 +++++++++++ ca_driver/launch/create_1.launch | 4 +- 14 files changed, 951 insertions(+), 587 deletions(-) create mode 100644 ca_description/launch/create_1.launch create mode 100644 ca_description/meshes/create_1.dae create mode 100644 ca_description/meshes/create_1.tga create mode 100644 ca_description/urdf/create_1.urdf.xacro create mode 100644 ca_description/urdf/create_1_gazebo.urdf.xacro create mode 100644 ca_description/urdf/create_2.urdf.xacro delete mode 100644 ca_description/urdf/create_2_base.urdf.xacro create mode 100644 ca_description/urdf/create_base.urdf.xacro create mode 100644 ca_description/urdf/create_base_gazebo.urdf.xacro diff --git a/ca_description/README.md b/ca_description/README.md index 4236d1e0f..d2394f07f 100644 --- a/ca_description/README.md +++ b/ca_description/README.md @@ -4,5 +4,5 @@ A place for URDF models and meshes for iRobot's Create 1 and 2. ## Sources -* Original URDF: https://github.com/turtlebot/turtlebot_create -* Original mesh: https://github.com/goncabrita/roomba_robot +* Original URDF and Create 1 mesh: https://github.com/turtlebot/turtlebot_create +* Original Create 2 mesh: https://github.com/goncabrita/roomba_robot diff --git a/ca_description/launch/create_1.launch b/ca_description/launch/create_1.launch new file mode 100644 index 000000000..49b7f856e --- /dev/null +++ b/ca_description/launch/create_1.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/ca_description/launch/create_2.launch b/ca_description/launch/create_2.launch index 46a4f0bea..ff7386a99 100644 --- a/ca_description/launch/create_2.launch +++ b/ca_description/launch/create_2.launch @@ -1,6 +1,5 @@ - + - diff --git a/ca_description/meshes/create_1.dae b/ca_description/meshes/create_1.dae new file mode 100644 index 000000000..7da3a7e65 --- /dev/null +++ b/ca_description/meshes/create_1.dae @@ -0,0 +1,348 @@ + + + + + Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com + Blender v:249 - Illusoft Collada Exporter v:0.3.162 + + + file:// + + 2011-04-04T13:58:47.183927 + 2011-04-04T13:58:47.183946 + + Z_UP + + + + + + + create_tga-img + A8R8G8B8 + + + + + create_tga-surface + LINEAR_MIPMAP_LINEAR + LINEAR + + + + + + 0.30000 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345 0 8898 346 0 8899 347 0 8900 346 1434 8901 345 1434 8902 348 1434 8903 346 1435 8904 348 1435 8905 349 1435 8906 349 1436 8907 348 1436 8908 350 1436 8909 350 1437 8910 348 1437 8911 351 1437 8912 351 1438 8913 348 1438 8914 352 1438 8915 351 1439 8916 352 1439 8917 353 1439 8918 353 0 8919 352 0 8920 354 0 8921 354 0 8922 352 0 8923 355 0 8924 354 0 8925 355 0 8926 356 0 8927 356 1440 8928 355 1440 8929 357 1440 8930 356 1441 8931 357 1441 8932 358 1441 8933 358 1442 8934 357 1442 8935 359 1442 8936 358 0 8937 359 0 8938 360 0 8939 360 1443 8940 359 1443 8941 361 1443 8942 360 0 8943 361 0 8944 362 0 8945 362 0 8946 361 0 8947 363 0 8948 363 1444 8949 361 1444 8950 364 1444 8951 363 0 8952 364 0 8953 365 0 8954 365 0 8955 364 0 8956 366 0 8957 365 0 8958 366 0 8959 367 0 8960 367 0 8961 366 0 8962 368 0 8963 367 0 8964 368 0 8965 369 0 8966 369 0 8967 368 0 8968 370 0 8969 349 1445 8970 371 1445 8971 372 1445 8972 371 0 8973 349 0 8974 350 0 8975 372 1446 8976 371 1446 8977 373 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540 29 9451 541 29 9452 541 1509 9453 540 1509 9454 542 1509 9455 541 1510 9456 542 1510 9457 543 1510 9458 541 29 9459 543 29 9460 544 29 9461 544 29 9462 543 29 9463 545 29 9464 544 29 9465 545 29 9466 546 29 9467 546 1511 9468 545 1511 9469 547 1511 9470 546 1512 9471 547 1512 9472 548 1512 9473 546 29 9474 548 29 9475 517 29 9476 546 29 9477 517 29 9478 515 29 9479 546 1513 9480 515 1513 9481 549 1513 9482 546 29 9483 549 29 9484 550 29 9485 550 1514 9486 549 1514 9487 551 1514 9488 550 29 9489 551 29 9490 552 29 9491 552 1515 9492 551 1515 9493 553 1515 9494 552 29 9495 553 29 9496 554 29 9497 554 29 9498 553 29 9499 555 29 9500 556 29 9501 557 29 9502 558 29 9503 557 29 9504 556 29 9505 559 29 9506 557 29 9507 559 29 9508 560 29 9509 560 29 9510 559 29 9511 561 29 9512 561 1516 9513 559 1516 9514 562 1516 9515 561 1517 9516 562 1517 9517 563 1517 9518 561 29 9519 563 29 9520 564 29 9521 564 1518 9522 563 1518 9523 565 1518 9524 564 29 9525 565 29 9526 566 29 9527 566 29 9528 565 29 9529 567 29 9530 567 29 9531 565 29 9532 568 29 9533 567 29 9534 568 29 9535 569 29 9536 569 29 9537 568 29 9538 570 29 9539 571 29 9540 572 29 9541 573 29 9542 572 29 9543 571 29 9544 574 29 9545 574 1519 9546 571 1519 9547 575 1519 9548 574 1520 9549 575 1520 9550 576 1520 9551 576 1521 9552 575 1521 9553 577 1521 9554 576 1522 9555 577 1522 9556 578 1522 9557 578 1523 9558 577 1523 9559 579 1523 9560 578 29 9561 579 29 9562 580 29 9563 578 29 9564 580 29 9565 581 29 9566 581 1524 9567 580 1524 9568 582 1524 9569 581 1525 9570 582 1525 9571 583 1525 9572 581 29 9573 583 29 9574 570 29 9575 581 29 9576 570 29 9577 584 29 9578 584 1526 9579 570 1526 9580 568 1526 9581 584 29 9582 568 29 9583 585 29 9584 584 1527 9585 585 1527 9586 586 1527 9587 586 1528 9588 585 1528 9589 587 1528 9590 586 29 9591 587 29 9592 588 29 9593 588 29 9594 587 29 9595 589 29 9596 588 29 9597 589 29 9598 590 29 9599 590 29 9600 589 29 9601 591 29 9602 557 29 9603 592 29 9604 558 29 9605 592 1529 9606 557 29 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9682 618 29 9683 618 1546 9684 617 1546 9685 619 1546 9686 618 29 9687 619 29 9688 620 29 9689 620 29 9690 619 29 9691 621 29 9692 605 29 9693 622 29 9694 623 29 9695 622 1547 9696 605 1547 9697 604 1547 9698 623 29 9699 622 29 9700 624 29 9701 623 1548 9702 624 1548 9703 625 1548 9704 623 1549 9705 625 1549 9706 626 1549 9707 623 29 9708 626 29 9709 627 29 9710 627 29 9711 626 29 9712 628 29 9713 627 29 9714 628 29 9715 629 29 9716 629 29 9717 628 29 9718 630 29 9719 629 1550 9720 630 1550 9721 631 1550 9722 631 1551 9723 630 1551 9724 632 1551 9725 632 1552 9726 630 1552 9727 633 1552 9728 632 29 9729 633 29 9730 634 29 9731 634 1553 9732 633 1553 9733 635 1553 9734 636 29 9735 637 29 9736 638 29 9737 637 29 9738 636 29 9739 639 29 9740 639 29 9741 636 29 9742 640 29 9743 639 1554 9744 640 1554 9745 641 1554 9746 639 29 9747 641 29 9748 642 29 9749 642 1555 9750 641 1555 9751 643 1555 9752 642 29 9753 643 29 9754 644 29 9755 644 1556 9756 643 1556 9757 645 1556 9758 644 1557 9759 645 1557 9760 646 1557 9761 644 29 9762 646 29 9763 647 29 9764 647 1558 9765 646 1558 9766 648 1558 9767 648 1559 9768 646 1559 9769 649 1559 9770 648 1560 9771 649 1560 9772 650 1560 9773 648 1561 9774 650 1561 9775 651 1561 9776 651 29 9777 650 29 9778 652 29 9779 651 1562 9780 652 1562 9781 635 1562 9782 651 1563 9783 635 1563 9784 653 1563 9785 653 1564 9786 635 1564 9787 633 1564 9788 653 1565 9789 633 1565 9790 654 1565 9791 653 29 9792 654 29 9793 655 29 9794 655 29 9795 654 29 9796 656 29 9797 656 1566 9798 654 1566 9799 657 1566 9800 656 29 9801 657 29 9802 658 29 9803 658 29 9804 657 29 9805 659 29 9806 660 1567 9807 661 1567 9808 662 1567 9809 661 29 9810 660 29 9811 663 29 9812 664 29 9813 665 29 9814 666 29 9815 665 1568 9816 664 1568 9817 662 1568 9818 665 1569 9819 662 1569 9820 667 1569 9821 667 1570 9822 662 1570 9823 668 1570 9824 668 1571 9825 662 1571 9826 661 1571 9827 668 29 9828 661 29 9829 669 29 9830 665 29 9831 670 29 9832 671 29 9833 670 1572 9834 665 1572 9835 667 1572 9836 672 29 9837 673 29 9838 674 29 9839 673 1573 9840 672 1573 9841 675 1573 9842 675 29 9843 672 29 9844 676 29 9845 676 1574 9846 672 1574 9847 677 1574 9848 677 29 9849 672 29 9850 678 29 9851 677 29 9852 678 29 9853 679 29 9854 679 1575 9855 678 1575 9856 680 1575 9857 679 1576 9858 680 1576 9859 681 1576 9860 681 29 9861 680 29 9862 682 29 9863 676 29 9864 681 29 9865 675 29 9866 681 29 9867 676 29 9868 679 29 9869 683 1577 9870 684 1577 9871 685 1577 9872 684 29 9873 683 29 9874 686 29 9875 684 29 9876 686 29 9877 687 29 9878 687 29 9879 686 29 9880 688 29 9881 687 29 9882 688 29 9883 689 29 9884 689 29 9885 688 29 9886 690 29 9887 689 1578 9888 690 1578 9889 691 1578 9890 691 29 9891 690 29 9892 692 29 9893 691 1579 9894 692 1579 9895 693 1579 9896 693 29 9897 692 29 9898 694 29 9899 695 29 9900 685 29 9901 684 29 9902

 @@ -389,18 +432,25 @@ 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 -

3228 3112 9903 3229 3112 9904 3230 3112 9905 3229 3113 9906 3228 3113 9907 3231 3113 9908 3232 3114 9909 3233 3114 9910 3234 3114 9911 3235 3115 9912 3236 3115 9913 3237 3115 9914 3238 3116 9915 3239 3116 9916 3240 3116 9917 3241 3117 9918 3242 3117 9919 3243 3117 9920 3244 3118 9921 3245 3118 9922 3246 3118 9923 3247 3119 9924 3248 3119 9925 3249 3119 9926 3250 3120 9927 3251 3120 9928 3252 3120 9929 3253 3121 9930 3254 3121 9931 3255 3121 9932 3256 3122 9933 3257 3122 9934 3258 3122 9935 3259 3123 9936 3260 3123 9937 3261 3123 9938 3260 3124 9939 3259 3124 9940 3262 3124 9941 3263 3125 9942 3264 3125 9943 3265 3125 9944 3264 3126 9945 3263 3126 9946 3266 3126 9947 3266 3127 9948 3263 3127 9949 3267 3127 9950 3266 3128 9951 3267 3128 9952 3268 3128 9953 3266 3129 9954 3268 3129 9955 3269 3129 9956 3266 3130 9957 3269 3130 9958 3270 3130 9959 3266 3131 9960 3270 3131 9961 3271 3131 9962 3266 3132 9963 3271 3132 9964 3272 3132 9965 3272 3133 9966 3271 3133 9967 3273 3133 9968 3272 3134 9969 3273 3134 9970 3274 3134 9971 3272 3135 9972 3274 3135 9973 3275 3135 9974 3272 3136 9975 3275 3136 9976 3276 3136 9977 3272 3137 9978 3276 3137 9979 3277 3137 9980 3272 3138 9981 3277 3138 9982 3278 3138 9983

+

3228 1580 9903 3229 1580 9904 3230 1580 9905 3229 1581 9906 3228 1581 9907 3231 1581 9908 3232 1582 9909 3233 1582 9910 3234 1582 9911 3235 1583 9912 3236 1583 9913 3237 1583 9914 3238 1584 9915 3239 1584 9916 3240 1584 9917 3241 1585 9918 3242 1585 9919 3243 1585 9920 3244 1586 9921 3245 1586 9922 3246 1586 9923 3247 1587 9924 3248 1587 9925 3249 1587 9926 3250 1588 9927 3251 1588 9928 3252 1588 9929 3253 1589 9930 3254 1589 9931 3255 1589 9932 3256 1590 9933 3257 1590 9934 3258 1590 9935 3259 1591 9936 3260 1591 9937 3261 1591 9938 3260 1592 9939 3259 1592 9940 3262 1592 9941 3263 1593 9942 3264 1593 9943 3265 1593 9944 3264 29 9945 3263 29 9946 3266 29 9947 3266 29 9948 3263 29 9949 3267 29 9950 3266 1594 9951 3267 1594 9952 3268 1594 9953 3266 1595 9954 3268 1595 9955 3269 1595 9956 3266 1596 9957 3269 1596 9958 3270 1596 9959 3266 1597 9960 3270 1597 9961 3271 1597 9962 3266 29 9963 3271 29 9964 3272 29 9965 3272 1598 9966 3271 1598 9967 3273 1598 9968 3272 1599 9969 3273 1599 9970 3274 1599 9971 3272 1600 9972 3274 1600 9973 3275 1600 9974 3272 1601 9975 3275 1601 9976 3276 1601 9977 3272 1602 9978 3276 1602 9979 3277 1602 9980 3272 1603 9981 3277 1603 9982 3278 1603 9983

 - 1 + + 0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + - 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 - + 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 0 0 0 0 1 + @@ -420,4 +470,4 @@ - + \ No newline at end of file diff --git a/ca_description/urdf/create_1.urdf.xacro b/ca_description/urdf/create_1.urdf.xacro new file mode 100644 index 000000000..96d161313 --- /dev/null +++ b/ca_description/urdf/create_1.urdf.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ca_description/urdf/create_1_gazebo.urdf.xacro b/ca_description/urdf/create_1_gazebo.urdf.xacro new file mode 100644 index 000000000..c7469d302 --- /dev/null +++ b/ca_description/urdf/create_1_gazebo.urdf.xacro @@ -0,0 +1,4 @@ + + + + diff --git a/ca_description/urdf/create_2.urdf.xacro b/ca_description/urdf/create_2.urdf.xacro new file mode 100644 index 000000000..20544c08a --- /dev/null +++ b/ca_description/urdf/create_2.urdf.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ca_description/urdf/create_2_base.urdf.xacro b/ca_description/urdf/create_2_base.urdf.xacro deleted file mode 100644 index ee91fce86..000000000 --- a/ca_description/urdf/create_2_base.urdf.xacro +++ /dev/null @@ -1,278 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ca_description/urdf/create_2_gazebo.urdf.xacro b/ca_description/urdf/create_2_gazebo.urdf.xacro index 3db91b804..c7469d302 100644 --- a/ca_description/urdf/create_2_gazebo.urdf.xacro +++ b/ca_description/urdf/create_2_gazebo.urdf.xacro @@ -1,231 +1,4 @@ - + - - - - - true - ${diffdrive_update_rate} - right_wheel_joint - left_wheel_joint - ${wheel_separation} - ${wheel_diameter} - ${wheel_torque} - - cmd_vel - odom - odom - base_footprint - - - - true - 100.0 - base_link - simple_controller/absolute_position - 0 - map - 0 0 0 - 0 0 0 - - - - - - - 1.0 - 1.0 - 1000000.0 - 100.0 - 0.001 - 1.0 - - - - 1.0 - 1.0 - 1000000.0 - 100.0 - 0.001 - 1.0 - - - 0.0 - 0.0 - 1000000.0 - 100.0 - 0.001 - 1.0 - - - - 0.0 - 0.0 - 1000000.0 - 100.0 - 0.001 - 1.0 - - - - - - - true - 30 - gyro_link - imu/data - imu/is_calibrated - ${0.0017*0.0017} - 0 0 0 - 0 0 0 - - - - - - - - true - 20.0 - 0 0 0 0 0 0 - false - - - - 1 - 1 - 0 - 0 - - - - 0.0160 - 0.04 - 0.1 - - - - - - - - - - true - 20.0 - 0 0 0 0 0 0 - false - - - - 1 - 1 - 0 - 0 - - - - 0.01 - 0.04 - 0.1 - - - - - - - - true - 20.0 - 0 0 0 0 0 0 - false - - - - 1 - 1 - 0 - 0 - - - - 0.01 - 0.04 - 0.1 - - - - - - - - true - 20.0 - 0 0 0 0 0 0 - false - - - - 1 - 1 - 0 - 0 - - - - 0.01 - 0.04 - 0.1 - - - - - - - - true - 20.0 - 0 0 0 0 0 0 - false - - - - 1 - 1 - 0 - 0 - - - - 0.01 - 0.04 - 0.1 - - - - - - - - + diff --git a/ca_description/urdf/create_base.urdf.xacro b/ca_description/urdf/create_base.urdf.xacro new file mode 100644 index 000000000..7c88511eb --- /dev/null +++ b/ca_description/urdf/create_base.urdf.xacro @@ -0,0 +1,236 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ca_description/urdf/create_base_gazebo.urdf.xacro b/ca_description/urdf/create_base_gazebo.urdf.xacro new file mode 100644 index 000000000..f6155a1a1 --- /dev/null +++ b/ca_description/urdf/create_base_gazebo.urdf.xacro @@ -0,0 +1,207 @@ + + + + + + true + ${diffdrive_update_rate} + right_wheel_joint + left_wheel_joint + ${wheel_separation} + ${wheel_radius * 2} + ${wheel_torque} + + cmd_vel + odom + odom + base_footprint + + + + true + 100.0 + base_link + simple_controller/absolute_position + 0 + map + 0 0 0 + 0 0 0 + + + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + + + + true + 30 + gyro_link + imu/data + imu/is_calibrated + ${0.0017*0.0017} + 0 0 0 + 0 0 0 + + + + + + + + true + 20.0 + 0 0 0 0 0 0 + false + + + + 1 + 1 + 0 + 0 + + + + 0.0160 + 0.04 + 0.1 + + + + + + + + + + true + 20.0 + 0 0 0 0 0 0 + false + + + + 1 + 1 + 0 + 0 + + + + 0.01 + 0.04 + 0.1 + + + + + + + + true + 20.0 + 0 0 0 0 0 0 + false + + + + 1 + 1 + 0 + 0 + + + + 0.01 + 0.04 + 0.1 + + + + + + + + true + 20.0 + 0 0 0 0 0 0 + false + + + + 1 + 1 + 0 + 0 + + + + 0.01 + 0.04 + 0.1 + + + + + + + + true + 20.0 + 0 0 0 0 0 0 + false + + + + 1 + 1 + 0 + 0 + + + + 0.01 + 0.04 + 0.1 + + + + + + diff --git a/ca_driver/launch/create_1.launch b/ca_driver/launch/create_1.launch index ed4e7779f..1c08fed88 100644 --- a/ca_driver/launch/create_1.launch +++ b/ca_driver/launch/create_1.launch @@ -1,5 +1,6 @@ + @@ -8,5 +9,6 @@ - + +