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Add Create 2 description #38

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cd30c24
Add Create 2 description
jacobperron Jul 30, 2018
074c012
Add test for URDF files
jacobperron Jul 30, 2018
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4 changes: 4 additions & 0 deletions create_description/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -9,3 +9,7 @@ install(DIRECTORY meshes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

if(CATKIN_ENABLE_TESTING)
catkin_add_nosetests(test)
endif()
3 changes: 1 addition & 2 deletions create_description/meshes/create_body.dae → create_description/meshes/create_1.dae
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Expand Up @@ -11,7 +11,6 @@
<created>2011-04-04T13:58:47.183927</created>
<modified>2011-04-04T13:58:47.183946</modified>
<unit meter="1.0" name="meter"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="create_tga-fx" name="create_tga-fx">
Expand Down Expand Up @@ -65,7 +64,7 @@
</library_effects>
<library_images>
<image id="create_tga-img" name="create_tga-img">
<init_from>create_body.tga</init_from>
<init_from>create_1.tga</init_from>
</image>
</library_images>
<library_materials>
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0 create_description/meshes/create_body.tga → create_description/meshes/create_1.tga
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472 changes: 472 additions & 0 deletions create_description/meshes/create_2.dae
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15 changes: 15 additions & 0 deletions create_description/test/test_urdf.py
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@@ -0,0 +1,15 @@
import subprocess

import nose.tools

import rospkg


def test_create_urdf():
urdf_file = rospkg.RosPack().get_path('create_description') + '/urdf/create.urdf.xacro'
subprocess.check_call(['rosrun', 'xacro', 'xacro', '--inorder', '--xacro-ns', urdf_file])


def test_create_2_urdf():
urdf_file = rospkg.RosPack().get_path('create_description') + '/urdf/create_2.urdf.xacro'
subprocess.check_call(['rosrun', 'xacro', 'xacro', '--inorder', '--xacro-ns', urdf_file])
310 changes: 7 additions & 303 deletions create_description/urdf/create.urdf.xacro
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@@ -1,304 +1,8 @@
<?xml version="1.0"?>
<robot name="turtlebot_hardware" xmlns:xacro="http://ros.org/wiki/xacro">

<!-- Macro for TurtleBot body. Including Gazebo extensions, but does not include Kinect -->
<xacro:include filename="$(find create_description)/urdf/create_gazebo.urdf.xacro"/>

<xacro:property name="base_x" value="0.33" />
<xacro:property name="base_y" value="0.33" />

<xacro:macro name="create">
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>

<!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="Green" />
</visual>

<collision>
<origin xyz="0 0 0.017" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<link name="base_link">
<inertial>
<mass value="2" />
<origin xyz="0 0 0.0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0" izz="0.5" />
</inertial>

<visual>
<origin xyz=" 0 0 0.0308" rpy="0 0 0" />
<geometry>
<mesh filename="package://create_description/meshes/create_body.dae"/>
</geometry>
</visual>

<collision>
<origin xyz="0.0 0.0 0.0308" rpy="0 0 0" />
<geometry>
<cylinder length="0.0611632" radius="0.16495"/>
</geometry>
</collision>
</link>

<link name="wall_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>


<link name="left_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>

<link name="right_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>



<link name="leftfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>

<link name="rightfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>


<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.017" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>

<joint name="base_wall_sensor_joint" type="fixed">
<origin xyz="0.09 -0.120 0.042" rpy="0 0 -1.0" />
<parent link="base_link"/>
<child link="wall_sensor_link" />
</joint>

<joint name="base_left_cliff_sensor_joint" type="fixed">
<origin xyz="0.07 0.14 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="left_cliff_sensor_link" />
</joint>

<joint name="base_right_cliff_sensor_joint" type="fixed">
<origin xyz="0.07 -0.14 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="right_cliff_sensor_link" />
</joint>

<joint name="base_leftfront_cliff_sensor_joint" type="fixed">
<origin xyz="0.15 0.04 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="leftfront_cliff_sensor_link" />
</joint>

<joint name="base_rightfront_cliff_sensor_joint" type="fixed">
<origin xyz="0.15 -0.04 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="rightfront_cliff_sensor_link" />
</joint>

<link name="left_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</collision>
</link>

<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.13 0.015" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>

<link name="right_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</collision>
</link>

<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.13 0.015" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>

<link name="rear_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<sphere radius="0.015" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<sphere radius="0.015" />
</geometry>
</collision>
</link>
<!-- fixed because there's no transmission -->
<joint name="rear_castor_joint" type="fixed">
<origin xyz="-0.13 0 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="rear_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>

<link name="front_wheel_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<sphere radius="0.018" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<sphere radius="0.018" />
</geometry>
</collision>
</link>

<!-- fixed because there's no transmission -->
<joint name="front_castor_joint" type="fixed">
<origin xyz="0.13 0 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>

<joint name="gyro_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0 0 0.04" rpy="0 0 0" />
<parent link="base_link"/>
<child link="gyro_link"/>
</joint>
<link name="gyro_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
</inertial>
</link>

<joint name="laser_joint" type="fixed">
<origin xyz="-0.065 0 0.075" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser" />
</joint>

<link name="laser">
<visual>
<geometry>
<box size="0.02 0.035 0.002" />
</geometry>
<material name="Green" />
</visual>
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>

<!-- Simulation sensors -->
<sim_create/>
<sim_create_wall_sensor/>
<sim_create_cliff_sensors/>
<sim_imu/>
</xacro:macro>
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="create">
<xacro:include filename="$(find create_description)/urdf/create_base.urdf.xacro" />

<xacro:create_base base_radius="0.3302" wheel_separation="0.26" wheel_radius="0.033">
<mesh filename="package://create_description/meshes/create_1.dae" />
</xacro:create_base>
</robot>
8 changes: 8 additions & 0 deletions create_description/urdf/create_2.urdf.xacro
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<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="create_2">
<xacro:include filename="$(find create_description)/urdf/create_base.urdf.xacro" />

<xacro:create_base base_radius="0.3302" wheel_separation="0.235" wheel_radius="0.036">
<mesh filename="package://create_description/meshes/create_2.dae" />
</xacro:create_base>
</robot>
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