新增机器人描述软件包

src/robot_description/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(robot_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)

src/robot_description/config/joint_names.yaml

@@ -0,0 +1 @@
+controller_joint_names: []

src/robot_description/config/urdf.rviz

@@ -0,0 +1,172 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.45
+    Tree Height: 359
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_imu_link:
+          Value: true
+        base_link:
+          Value: true
+        laser:
+          Value: true
+        odom_combined:
+          Value: true
+      Marker Scale: 0.3
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        odom_combined:
+          base_footprint:
+            base_link:
+              base_imu_link:
+                laser:
+                  {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: odom_combined
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.07899
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0158278
+        Y: 0.0410318
+        Z: 0.1585
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.115398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.122305
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 1056
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073020000019b000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000168fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000168000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000007800000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 24

src/robot_description/launch/display.launch

@@ -0,0 +1,25 @@
+<launch>
+  <arg name="model" />
+  <arg name="gui"
+    default="False" />
+  <param
+    name="robot_description"
+    textfile="$(find robot_description)/urdf/robot.urdf" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find robot_description)/config/urdf.rviz" />
+</launch>
+

src/robot_description/launch/robot_description.launch

@@ -0,0 +1,31 @@
+<!--
+  Author: www.corvin.cn
+  Description:配置机器人各link之间关系,在rviz中显示机器人模型.
+  History:
+    20190716:init this launch file.
+ -->
+<launch>
+  <arg name="model" />
+
+  <arg name="gui" default="False" />
+  <param
+    name="robot_description"
+    textfile="$(find robot_description)/urdf/robot.urdf" />
+  <param name="use_gui" value="$(arg gui)" />
+
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher">
+    <param name="rate" value="10.0" />
+  </node>
+
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" >
+    <param name="publish_frequency" value="20.0"/>
+  </node>
+
+</launch>
+

src/robot_description/package.xml

@@ -0,0 +1,21 @@
+<package>
+  <name>robot_description</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for carebot_description</p>
+    <p>This package contains configuration data, 3D models and launch files
+for robot_description robot</p>
+  </description>
+  <author>me</author>
+  <maintainer email="corvin_zhang@corvin.cn" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo</run_depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>

src/robot_description/urdf/common_properties.urdf.xacro

@@ -0,0 +1,57 @@
+<?xml version="1.0" ?>
+<!--
+  Various useful properties such as constants and materials 
+ -->
+<robot name="xacro_properties" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="M_PI" value="3.1415926535897931" /> 
+  <xacro:property name="material_white">
+    <material name="white">
+      <color rgba="1 1 1 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_grey">
+    <material name="grey">
+      <color rgba="0.5 0.5 0.5 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_light_grey">
+    <material name="light_grey">
+      <color rgba="0.6 0.6 0.6 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_dark_grey">
+    <material name="dark_grey">
+      <color rgba="0.3 0.3 0.3 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_black">
+    <material name="black">
+      <color rgba="0.1 0.1 0.1 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_red">
+    <material name="red">
+      <color rgba="1 0 0 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_green">
+    <material name="green">
+      <color rgba="0.0 0.8 0.0 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_blue">
+    <material name="blue">
+      <color rgba="0.0 0.0 1.0 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_grey_blue">
+    <material name="grey_blue">
+      <color rgba="0.4 0.4 1.0 1"/>
+    </material>
+  </xacro:property>
+  <xacro:property name="material_orange">
+    <material name="orange">
+      <color rgba="1.0 0.7 0.0 1"/>
+    </material>
+  </xacro:property>
+</robot>

src/robot_description/urdf/robot.urdf

@@ -0,0 +1,114 @@
+<robot name="robot">
+
+  <material name="blue">
+    <color rgba="0.1 0.1 0.75 0.9"/>
+  </material>
+
+  <link name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00915640899856677 -1.23594917594765E-18 0.116771439156292"
+        rpy="0 0 0" />
+      <mass
+        value="1.53513901604802" />
+      <inertia
+        ixx="0.0429859907839231"
+        ixy="1.40607469244214E-18"
+        ixz="0.00161915133178891"
+        iyy="0.0421680076448672"
+        iyz="-2.37846851589008E-18"
+        izz="0.0250023780420302" />
+    </inertial> 
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://robot_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://robot_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="base_footprint">
+    <visual>
+        <geometry>
+          <box size="0.005 0.005 0.005" />
+        </geometry>
+    </visual>
+  </link>
+  <joint name="base_footprint_joint" type="fixed">
+    <origin xyz="0 0 0.06"/>
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+  </joint>
+
+  <link name="base_imu_link" type="fixed">
+    <visual>
+      <geometry>
+        <box size="0.025 0.018 0.003"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+  <joint name="base_link_to_IMU" type="fixed">
+    <origin xyz="0 0 0.094"/>
+    <parent link="base_link"/>
+    <child link="base_imu_link"/>
+  </joint>
+
+  <link name="laser" type="fixed">
+    <inertial>
+      <origin>
+        xyz="0 0 0"
+        rpy="0 0 0"
+      </origin>
+      <mass value="0.19" />
+      <inertia
+        ixx="0.0429859907839231"
+        ixy="1.40607469244214E-18"
+        ixz="0.00161915133178891"
+        iyy="0.0421680076448672"
+        iyz="-2.37846851589008E-18"
+        izz="0.0250023780420302" />
+    </inertial>
+    <visual>
+      <origin>
+        xyz="0 0 0"
+        rpy="1.57079 0 0"
+      </origin>
+      <geometry>
+        <cylinder length="0.042" radius="0.038" />
+      </geometry>
+      <material name="">
+        <color rgba="0.79216 0.81961 0.9333 0.5" />
+      </material>
+    </visual>
+    <collision>
+      <origin>
+        xyz="0 0 0"
+        rpy="1.57.79 0 0"
+      </origin>
+      <geometry>
+        <cylinder length="0.042" radius="0.038" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="lidar_to_imu" type="fixed">
+    <origin xyz="0 0 0.155"/>
+    <parent link="base_imu_link"/>
+    <child link="laser"/>
+  </joint>
+
+</robot>

src/robot_description/urdf/robot.xacro

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<!--
+  Author: corvin
+  Description: this file is about carebot description
+  Date: 20171222-init this description files;
+-->
+
+<robot name="carebot" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find carebot_description)/urdf/common_properties.urdf.xacro" />
+  <xacro:property name="M_SCALE" value="0.001" />
+
+  <xacro:include filename="$(find carebot_description)/urdf/carebot_stack.xacro" />
+  <!--<xacro include filename="$(find carebot_description)/urdf/rplidar_a2.urdf" />-->
+
+</robot>

src/robot_description/urdf/robot_stack.xacro

@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<!--
+  Author: corvin
+  Description: this is carebot stack urdf file
+  Date: 20171222-init file;
+-->
+
+<robot name="carebot" xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <link name="base_footprint"/>
+    <!--
+       Base link is set at the bottom of the base mould.
+       This is done to be compatible with the way base link
+       was configured for turtlebot 1. Refer to
+
+       https://github.com/turtlebot/turtlebot/issues/40
+
+       To put the base link at the more oft used wheel
+       axis, set the z-distance from the base_footprint
+       to 0.352.
+      -->
+    <joint name="base_joint" type="fixed">
+      <origin xyz="0 0 0.0102" rpy="0 0 0" />
+      <parent link="base_footprint"/>
+      <child link="base_link" />
+    </joint>
+    <link name="base_link">
+      <visual>
+        <geometry>
+          <!-- new mesh -->
+          <mesh filename="package://carebot_description/meshes/base_link.STL" />
+        </geometry>
+        <origin xyz="0.001 0 0.05199" rpy="0 0 0"/>
+      </visual>
+      <collision name="base">
+        <geometry>
+          <cylinder length="0.10938" radius="0.178"/>
+        </geometry>
+        <origin xyz="0.0 0 0.05949" rpy="0 0 0"/>
+      </collision>
+      <inertial>
+        <!-- COM experimentally determined -->
+        <origin xyz="0.01 0 0"/>
+        <mass value="2.4"/> <!-- 2.4/2.6 kg for small/big battery pack -->
+        <inertia ixx="0.019995" ixy="0.0" ixz="0.0"
+                 iyy="0.019995" iyz="0.0"
+                 izz="0.03675" />
+      </inertial>
+    </link>
+
+</robot>