add MIT racecar URDF, meshes and racecar.py quick test
This commit is contained in:
erwincoumans
BIN
data/racecar/meshes/chassis.STL
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data/racecar/meshes/chassis.STL
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data/racecar/meshes/chassis.dae
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data/racecar/meshes/chassis.dae
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123
data/racecar/meshes/cone.dae
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data/racecar/meshes/cone.dae
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|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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||||
<asset>
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||||
<contributor>
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<authoring_tool>SketchUp 15.3.331</authoring_tool>
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||||
</contributor>
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||||
<created>2016-03-10T00:21:04Z</created>
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||||
<modified>2016-03-10T00:21:04Z</modified>
|
||||
<unit meter="0.0254" name="inch" />
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
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<library_visual_scenes>
|
||||
<visual_scene id="ID1">
|
||||
<node name="SketchUp">
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<instance_geometry url="#ID2">
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<bind_material>
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<technique_common>
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<instance_material symbol="Material2" target="#ID3">
|
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<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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</instance_material>
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</technique_common>
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||||
</bind_material>
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||||
</instance_geometry>
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||||
<instance_geometry url="#ID10">
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||||
<bind_material>
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||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID3">
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<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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||||
</instance_material>
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</technique_common>
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</bind_material>
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||||
</instance_geometry>
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</node>
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||||
</visual_scene>
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</library_visual_scenes>
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<library_geometries>
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<geometry id="ID2">
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<mesh>
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<source id="ID5">
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<technique_common>
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<accessor count="36" source="#ID8" stride="3">
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<param name="X" type="float" />
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<param name="Y" type="float" />
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<param name="Z" type="float" />
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</source>
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<vertices id="ID7">
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<input semantic="POSITION" source="#ID5" />
|
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<input semantic="NORMAL" source="#ID6" />
|
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</vertices>
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<triangles count="26" material="Material2">
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</triangles>
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</mesh>
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</geometry>
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||||
<geometry id="ID10">
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||||
<mesh>
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<source id="ID11">
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<param name="Y" type="float" />
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<param name="Z" type="float" />
|
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|
||||
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|
||||
<source id="ID12">
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||||
<technique_common>
|
||||
<accessor count="24" source="#ID15" stride="3">
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<param name="X" type="float" />
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||||
<param name="Y" type="float" />
|
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<param name="Z" type="float" />
|
||||
</accessor>
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||||
</technique_common>
|
||||
</source>
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||||
<vertices id="ID13">
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||||
<input semantic="POSITION" source="#ID11" />
|
||||
<input semantic="NORMAL" source="#ID12" />
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||||
</vertices>
|
||||
<triangles count="12" material="Material2">
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||||
<input offset="0" semantic="VERTEX" source="#ID13" />
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||||
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</triangles>
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||||
</mesh>
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||||
</geometry>
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||||
</library_geometries>
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<library_materials>
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<material id="ID3" name="material_1">
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<instance_effect url="#ID4" />
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</material>
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||||
</library_materials>
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||||
<library_effects>
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||||
<effect id="ID4">
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||||
<profile_COMMON>
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||||
<technique sid="COMMON">
|
||||
<lambert>
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||||
<diffuse>
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<color>0.7529412 0.3764706 0.0627451 1</color>
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</diffuse>
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</lambert>
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||||
</technique>
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||||
</profile_COMMON>
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||||
</effect>
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||||
</library_effects>
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<scene>
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||||
<instance_visual_scene url="#ID1" />
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</scene>
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</COLLADA>
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||||
253
data/racecar/meshes/hokuyo.dae
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253
data/racecar/meshes/hokuyo.dae
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File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/left_front_wheel.STL
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data/racecar/meshes/left_front_wheel.STL
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68
data/racecar/meshes/left_front_wheel.dae
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68
data/racecar/meshes/left_front_wheel.dae
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File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/left_rear_wheel.STL
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BIN
data/racecar/meshes/left_rear_wheel.STL
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68
data/racecar/meshes/left_rear_wheel.dae
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68
data/racecar/meshes/left_rear_wheel.dae
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File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/left_steering_hinge.STL
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BIN
data/racecar/meshes/left_steering_hinge.STL
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Binary file not shown.
68
data/racecar/meshes/left_steering_hinge.dae
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68
data/racecar/meshes/left_steering_hinge.dae
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File diff suppressed because one or more lines are too long
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data/racecar/meshes/parking_1.dae
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310
data/racecar/meshes/parking_1.dae
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@@ -0,0 +1,310 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Blender User</author>
|
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<authoring_tool>Blender 2.78.0</authoring_tool>
|
||||
</contributor>
|
||||
<created>2017-04-24T15:08:21</created>
|
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<modified>2017-04-24T15:08:21</modified>
|
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<unit name="meter" meter="1"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_cameras>
|
||||
<camera id="Camera-camera" name="Camera">
|
||||
<optics>
|
||||
<technique_common>
|
||||
<perspective>
|
||||
<xfov sid="xfov">49.13434</xfov>
|
||||
<aspect_ratio>1.777778</aspect_ratio>
|
||||
<znear sid="znear">0.1</znear>
|
||||
<zfar sid="zfar">100</zfar>
|
||||
</perspective>
|
||||
</technique_common>
|
||||
</optics>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<YF_dofdist>0</YF_dofdist>
|
||||
<shiftx>0</shiftx>
|
||||
<shifty>0</shifty>
|
||||
</technique>
|
||||
</extra>
|
||||
</camera>
|
||||
</library_cameras>
|
||||
<library_lights>
|
||||
<light id="Lamp-light" name="Lamp">
|
||||
<technique_common>
|
||||
<point>
|
||||
<color sid="color">1 1 1</color>
|
||||
<constant_attenuation>1</constant_attenuation>
|
||||
<linear_attenuation>0</linear_attenuation>
|
||||
<quadratic_attenuation>0.00111109</quadratic_attenuation>
|
||||
</point>
|
||||
</technique_common>
|
||||
<extra>
|
||||
<technique profile="blender">
|
||||
<adapt_thresh>0.000999987</adapt_thresh>
|
||||
<area_shape>1</area_shape>
|
||||
<area_size>0.1</area_size>
|
||||
<area_sizey>0.1</area_sizey>
|
||||
<area_sizez>1</area_sizez>
|
||||
<atm_distance_factor>1</atm_distance_factor>
|
||||
<atm_extinction_factor>1</atm_extinction_factor>
|
||||
<atm_turbidity>2</atm_turbidity>
|
||||
<att1>0</att1>
|
||||
<att2>1</att2>
|
||||
<backscattered_light>1</backscattered_light>
|
||||
<bias>1</bias>
|
||||
<blue>1</blue>
|
||||
<buffers>1</buffers>
|
||||
<bufflag>0</bufflag>
|
||||
<bufsize>2880</bufsize>
|
||||
<buftype>2</buftype>
|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<sky_exposure>1</sky_exposure>
|
||||
<skyblendfac>1</skyblendfac>
|
||||
<skyblendtype>1</skyblendtype>
|
||||
<soft>3</soft>
|
||||
<spotblend>0.15</spotblend>
|
||||
<spotsize>75</spotsize>
|
||||
<spread>1</spread>
|
||||
<sun_brightness>1</sun_brightness>
|
||||
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|
||||
<sun_intensity>1</sun_intensity>
|
||||
<sun_size>1</sun_size>
|
||||
<type>0</type>
|
||||
</technique>
|
||||
</extra>
|
||||
</light>
|
||||
</library_lights>
|
||||
<library_images/>
|
||||
<library_effects>
|
||||
<effect id="Material_001-effect">
|
||||
<profile_COMMON>
|
||||
<technique sid="common">
|
||||
<phong>
|
||||
<emission>
|
||||
<color sid="emission">0 0 0 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color sid="ambient">0 0 0 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color sid="diffuse">0 0.64 0.03905561 1</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color sid="specular">0.5 0.5 0.5 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float sid="shininess">50</float>
|
||||
</shininess>
|
||||
<index_of_refraction>
|
||||
<float sid="index_of_refraction">1</float>
|
||||
</index_of_refraction>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
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|
||||
<library_materials>
|
||||
<material id="Material_001-material" name="Material_001">
|
||||
<instance_effect url="#Material_001-effect"/>
|
||||
</material>
|
||||
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|
||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
<mesh>
|
||||
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||||
<technique_common>
|
||||
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<param name="X" type="float"/>
|
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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||||
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|
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||||
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|
||||
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||||
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|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube_002-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube_002-mesh-positions"/>
|
||||
</vertices>
|
||||
<polylist count="12">
|
||||
<input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
|
||||
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||
<p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
|
||||
</polylist>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="Cube_003-mesh" name="Cube.003">
|
||||
<mesh>
|
||||
<source id="Cube_003-mesh-positions">
|
||||
<float_array id="Cube_003-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_003-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube_003-mesh-normals">
|
||||
<float_array id="Cube_003-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube_003-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube_003-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube_003-mesh-positions"/>
|
||||
</vertices>
|
||||
<polylist count="12">
|
||||
<input semantic="VERTEX" source="#Cube_003-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube_003-mesh-normals" offset="1"/>
|
||||
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||
<p>3 0 0 0 1 0 7 1 2 1 3 1 5 2 6 2 7 2 1 3 4 3 5 3 2 4 4 4 0 4 7 5 1 5 5 5 3 0 2 0 0 0 7 1 6 1 2 1 5 2 4 2 6 2 1 3 0 3 4 3 2 4 6 4 4 4 7 5 3 5 1 5</p>
|
||||
</polylist>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="Cube-mesh" name="Cube">
|
||||
<mesh>
|
||||
<source id="Cube-mesh-positions">
|
||||
<float_array id="Cube-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="Cube-mesh-normals">
|
||||
<float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="Cube-mesh-vertices">
|
||||
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||
</vertices>
|
||||
<polylist material="Material_001-material" count="12">
|
||||
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||
<p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
|
||||
</polylist>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_controllers/>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node id="Cube_002" name="Cube_002" type="NODE">
|
||||
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 3.623344 0 0 0.15 0.1530263 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_004-mesh" name="Cube_002"/>
|
||||
</node>
|
||||
<node id="Camera" name="Camera" type="NODE">
|
||||
<matrix sid="transform">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</matrix>
|
||||
<instance_camera url="#Camera-camera"/>
|
||||
</node>
|
||||
<node id="Lamp" name="Lamp" type="NODE">
|
||||
<matrix sid="transform">-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</matrix>
|
||||
<instance_light url="#Lamp-light"/>
|
||||
</node>
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_002-mesh" name="Cube"/>
|
||||
</node>
|
||||
<node id="Cube_001" name="Cube_001" type="NODE">
|
||||
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
|
||||
</node>
|
||||
<node id="Cube_003" name="Cube_003" type="NODE">
|
||||
<matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="Cube_003">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_front_wheel.dae
Normal file
68
data/racecar/meshes/right_front_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/right_rear_wheel.STL
Normal file
BIN
data/racecar/meshes/right_rear_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_rear_wheel.dae
Normal file
68
data/racecar/meshes/right_rear_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_steering_hinge.dae
Normal file
68
data/racecar/meshes/right_steering_hinge.dae
Normal file
File diff suppressed because one or more lines are too long
506
data/racecar/meshes/walker_racecourse.dae
Normal file
506
data/racecar/meshes/walker_racecourse.dae
Normal file
File diff suppressed because one or more lines are too long
482
data/racecar/racecar.urdf
Normal file
482
data/racecar/racecar.urdf
Normal file
@@ -0,0 +1,482 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
<link name="base_link"/>
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/chassis.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="base_link_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
<link name="chassis_inertia">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_inertia_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="chassis_inertia"/>
|
||||
</joint>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.STL"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
robot
|
||||
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.STL"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.STL"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.STL"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.dae"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<!-- Gazebo references -->
|
||||
<gazebo reference="chassis">
|
||||
<mu1 value="0.0"/>
|
||||
<mu2 value="0.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<material>Gazebo/Blue</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<!-- Gazebo plugins -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/racecar</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="laser">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor name="hokuyo_sensor" type="ray">
|
||||
<pose>0 0 0.0124 0 0 0</pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1081</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944902</min_angle>
|
||||
<max_angle>2.3561944902</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.1</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>laser</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="camera_link">
|
||||
<sensor name="zed_camera_left_sensor" type="camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<!-- math.atan(320 / 687.8065795898438) * 2 -->
|
||||
<camera name="zed_camera_left_camera">
|
||||
<horizontal_fov>0.8709216071359963</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>B8G8R8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>/camera/zed</cameraName>
|
||||
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
<!-- set this to 0.12 for the second camera -->
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
44
examples/pybullet/examples/racecar.py
Normal file
44
examples/pybullet/examples/racecar.py
Normal file
@@ -0,0 +1,44 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
|
||||
cid = p.connect(p.SHARED_MEMORY)
|
||||
if (cid<0):
|
||||
p.connect(p.GUI)
|
||||
|
||||
p.resetSimulation()
|
||||
p.setGravity(0,0,-10)
|
||||
|
||||
useRealTimeSim = 1
|
||||
|
||||
#for video recording (works best on Mac and Linux, not well on Windows)
|
||||
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
|
||||
p.setRealTimeSimulation(useRealTimeSim) # either this
|
||||
#p.loadURDF("plane.urdf")
|
||||
p.loadSDF("stadium.sdf")
|
||||
|
||||
car = p.loadURDF("racecar/racecar.urdf")
|
||||
for i in range (p.getNumJoints(car)):
|
||||
print (p.getJointInfo(car,i))
|
||||
|
||||
wheels = [2,3,5,7]
|
||||
steering = [4,6]
|
||||
|
||||
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)
|
||||
maxForceSlider = p.addUserDebugParameter("maxForce",0,10,10)
|
||||
steeringSlider = p.addUserDebugParameter("steering",-0.5,0.5,0)
|
||||
while (True):
|
||||
maxForce = p.readUserDebugParameter(maxForceSlider)
|
||||
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
|
||||
steeringAngle = p.readUserDebugParameter(steeringSlider)
|
||||
#print(targetVelocity)
|
||||
|
||||
for wheel in wheels:
|
||||
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
|
||||
|
||||
for steer in steering:
|
||||
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
|
||||
|
||||
steering
|
||||
if (useRealTimeSim==0):
|
||||
p.stepSimulation()
|
||||
time.sleep(0.01)
|
||||
Reference in New Issue
Block a user