├── README.MD
├── mec_mobile
    ├── CMakeLists.txt
    ├── LICENSE
    ├── README.MD
    └── package.xml
└── mec_mobile_description
    ├── CMakeLists.txt
    ├── LICENSE
    ├── README.MD
    ├── meshes
        ├── intel_realsense
        │   └── visual
        │   │   └── d435.stl
        ├── robot_3d
        │   └── visual
        │   │   ├── back_left_wheel_X3.STL
        │   │   ├── back_right_wheel_X3.STL
        │   │   ├── base_link_X3.STL
        │   │   ├── camera_link.STL
        │   │   ├── front_left_wheel_X3.STL
        │   │   ├── front_right_wheel_X3.STL
        │   │   └── laser_link.STL
        └── rplidar
        │   └── rplidar_s2.stl
    ├── package.xml
    └── urdf
        ├── materials.xacro
        ├── mech
            ├── mecanum_wheel.urdf.xacro
            └── robot_3d_base.urdf.xacro
        ├── robots
            └── robot_3d.urdf.xacro
        └── sensors
            ├── imu.urdf.xacro
            ├── lidar.urdf.xacro
            └── rgbd_camera.urdf.xacro


/README.MD:
--------------------------------------------------------------------------------
 1 | # mec_mobile #
 2 | 
 3 | This repository is for creating a Mecanum Mobile Robot with URDF and Visualize it in RViz.
 4 | 
 5 | - Platform: ROS2 Jazzy + Gazebo Harmonic
 6 | 
 7 | [Here is the step by step tutrorial video on Youtube](https://youtu.be/ABLQZkkTKlI)
 8 | 
 9 | Use the main branch as the start package for Gazebo simulation
10 | 
11 | ## Quick Start
12 | 
13 | * Create a ros workspace
14 |     ```bash   
15 |     mkdir -p ~/ros2_ws/src
16 |     cd ~/ros2_ws/src
17 |     ```
18 | * Download the package
19 |     ```bash    
20 |     git clone -b main https://github.com/roboticslabs/mec_mobile.git
21 |     ```
22 | * Compile the package
23 |     ```bash
24 |     cd ~/ros2_ws
25 |     sudo apt-get install ros-${ROS_DISTRO}-urdf-tutorial
26 |     colcon build
27 |     ```
28 | * Try it
29 |     ```bash
30 |     source ~/ros2_ws/install/setup.bash
31 |     ros2 launch urdf_tutorial display.launch.py model:=/home/robotlabs/ros2_ws/src/mec_mobile/mec_mobile_description/urdf/robots/robot_3d.urdf.xacro
32 |     ```
33 |     Note: update the model's path according to your own setting.
34 | 


--------------------------------------------------------------------------------
/mec_mobile/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.8)
 2 | project(mec_mobile)
 3 | 
 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 5 |   add_compile_options(-Wall -Wextra -Wpedantic)
 6 | endif()
 7 | 
 8 | # find dependencies
 9 | find_package(ament_cmake REQUIRED)
10 | # uncomment the following section in order to fill in
11 | # further dependencies manually.
12 | # find_package(<dependency> REQUIRED)
13 | 
14 | if(BUILD_TESTING)
15 |   find_package(ament_lint_auto REQUIRED)
16 |   # the following line skips the linter which checks for copyrights
17 |   # comment the line when a copyright and license is added to all source files
18 |   set(ament_cmake_copyright_FOUND TRUE)
19 |   # the following line skips cpplint (only works in a git repo)
20 |   # comment the line when this package is in a git repo and when
21 |   # a copyright and license is added to all source files
22 |   set(ament_cmake_cpplint_FOUND TRUE)
23 |   ament_lint_auto_find_test_dependencies()
24 | endif()
25 | 
26 | ament_package()
27 | 


--------------------------------------------------------------------------------
/mec_mobile/LICENSE:
--------------------------------------------------------------------------------
 1 | Redistribution and use in source and binary forms, with or without
 2 | modification, are permitted provided that the following conditions are met:
 3 | 
 4 |    * Redistributions of source code must retain the above copyright
 5 |      notice, this list of conditions and the following disclaimer.
 6 | 
 7 |    * Redistributions in binary form must reproduce the above copyright
 8 |      notice, this list of conditions and the following disclaimer in the
 9 |      documentation and/or other materials provided with the distribution.
10 | 
11 |    * Neither the name of the copyright holder nor the names of its
12 |      contributors may be used to endorse or promote products derived from
13 |      this software without specific prior written permission.
14 | 
15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
19 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25 | POSSIBILITY OF SUCH DAMAGE.
26 | 


--------------------------------------------------------------------------------
/mec_mobile/README.MD:
--------------------------------------------------------------------------------
1 | # mec_mobile #


--------------------------------------------------------------------------------
/mec_mobile/package.xml:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>mec_mobile</name>
 5 |   <version>0.0.0</version>
 6 |   <description>TODO: Package description</description>
 7 |   <maintainer email="robotlabsnz@gmail.com">robotlabs</maintainer>
 8 |   <license>BSD-3-Clause</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 | 
12 |   <exec_depend>mec_mobile_description</exec_depend> 
13 | 
14 |   <test_depend>ament_lint_auto</test_depend>
15 |   <test_depend>ament_lint_common</test_depend>
16 | 
17 |   <export>
18 |     <build_type>ament_cmake</build_type>
19 |   </export>
20 | </package>
21 | 


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/mec_mobile_description/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.8)
 2 | project(mec_mobile_description)
 3 | 
 4 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 5 |   add_compile_options(-Wall -Wextra -Wpedantic)
 6 | endif()
 7 | 
 8 | # find dependencies
 9 | find_package(ament_cmake REQUIRED)
10 | find_package(urdf_tutorial REQUIRED)
11 | # uncomment the following section in order to fill in
12 | # further dependencies manually.
13 | # find_package(<dependency> REQUIRED)
14 | # Copy necessary files to designated locations in the project
15 | install (
16 |   DIRECTORY meshes urdf
17 |   DESTINATION share/${PROJECT_NAME}
18 | )
19 | 
20 | if(BUILD_TESTING)
21 |   find_package(ament_lint_auto REQUIRED)
22 |   # the following line skips the linter which checks for copyrights
23 |   # comment the line when a copyright and license is added to all source files
24 |   set(ament_cmake_copyright_FOUND TRUE)
25 |   # the following line skips cpplint (only works in a git repo)
26 |   # comment the line when this package is in a git repo and when
27 |   # a copyright and license is added to all source files
28 |   set(ament_cmake_cpplint_FOUND TRUE)
29 |   ament_lint_auto_find_test_dependencies()
30 | endif()
31 | 
32 | ament_package()
33 | 


--------------------------------------------------------------------------------
/mec_mobile_description/LICENSE:
--------------------------------------------------------------------------------
 1 | Redistribution and use in source and binary forms, with or without
 2 | modification, are permitted provided that the following conditions are met:
 3 | 
 4 |    * Redistributions of source code must retain the above copyright
 5 |      notice, this list of conditions and the following disclaimer.
 6 | 
 7 |    * Redistributions in binary form must reproduce the above copyright
 8 |      notice, this list of conditions and the following disclaimer in the
 9 |      documentation and/or other materials provided with the distribution.
10 | 
11 |    * Neither the name of the copyright holder nor the names of its
12 |      contributors may be used to endorse or promote products derived from
13 |      this software without specific prior written permission.
14 | 
15 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
19 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25 | POSSIBILITY OF SUCH DAMAGE.
26 | 


--------------------------------------------------------------------------------
/mec_mobile_description/README.MD:
--------------------------------------------------------------------------------
1 | # mec_mobile_description #


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/mec_mobile_description/meshes/intel_realsense/visual/d435.stl:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/intel_realsense/visual/d435.stl


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/mec_mobile_description/meshes/robot_3d/visual/back_left_wheel_X3.STL:
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/mec_mobile_description/meshes/robot_3d/visual/back_right_wheel_X3.STL:
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/mec_mobile_description/meshes/robot_3d/visual/base_link_X3.STL:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/robot_3d/visual/base_link_X3.STL


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/mec_mobile_description/meshes/robot_3d/visual/camera_link.STL:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/robot_3d/visual/camera_link.STL


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/mec_mobile_description/meshes/robot_3d/visual/front_left_wheel_X3.STL:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/robot_3d/visual/front_left_wheel_X3.STL


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/mec_mobile_description/meshes/robot_3d/visual/front_right_wheel_X3.STL:
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/mec_mobile_description/meshes/robot_3d/visual/laser_link.STL:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/robot_3d/visual/laser_link.STL


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/mec_mobile_description/meshes/rplidar/rplidar_s2.stl:
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https://raw.githubusercontent.com/roboticslabs/mec_mobile/b39f1e7092b9e2c41effc0f2601a993b01bc77ba/mec_mobile_description/meshes/rplidar/rplidar_s2.stl


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/mec_mobile_description/package.xml:
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 1 | <?xml version="1.0"?>
 2 | <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3 | <package format="3">
 4 |   <name>mec_mobile_description</name>
 5 |   <version>0.0.0</version>
 6 |   <description>TODO: Package description</description>
 7 |   <maintainer email="robotlabsnz@gmail.com">robotlabs</maintainer>
 8 |   <license>BSD-3-Clause</license>
 9 | 
10 |   <buildtool_depend>ament_cmake</buildtool_depend>
11 |   <depend>urdf_tutorial</depend>
12 | 
13 |   <test_depend>ament_lint_auto</test_depend>
14 |   <test_depend>ament_lint_common</test_depend>
15 | 
16 |   <export>
17 |     <build_type>ament_cmake</build_type>
18 |   </export>
19 | </package>
20 | 


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/mec_mobile_description/urdf/materials.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot>
 3 | 
 4 |   <material name="black">
 5 |     <color rgba="0.0 0.0 0.0 1.0"/>
 6 |   </material>
 7 | 
 8 |   <material name="blue">
 9 |     <color rgba="0.0 0.0 0.8 1.0"/>
10 |   </material>
11 | 
12 |   <material name="green">
13 |     <color rgba="0.0 0.8 0.0 1.0"/>
14 |   </material>
15 | 
16 |   <material name="grey">
17 |     <color rgba="0.2 0.2 0.2 1.0"/>
18 |   </material>
19 | 
20 |   <material name="orange">
21 |     <color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
22 |   </material>
23 | 
24 |   <material name="brown">
25 |     <color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
26 |   </material>
27 | 
28 |   <material name="red">
29 |     <color rgba="0.8 0.0 0.0 1.0"/>
30 |   </material>
31 | 
32 |   <material name="white">
33 |     <color rgba="1.0 1.0 1.0 1.0"/>
34 |   </material>
35 | 
36 | </robot>
37 | 


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/mec_mobile_description/urdf/mech/mecanum_wheel.urdf.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | 
 4 |   <xacro:property name="wheel_radius" value="0.0325" />
 5 |   <xacro:property name="wheel_separation" value="0.169" />
 6 |   <xacro:property name="wheel_width" value="0.03040" />
 7 |   <xacro:property name="wheel_mass" value="9.1" />
 8 |   <xacro:property name="wheel_xoff" value="0.08" />
 9 |   <xacro:property name="wheel_yoff" value="-0.01" />
10 | 
11 |   <xacro:macro name="mecanum_wheel" params="prefix side x_reflect y_reflect">
12 |     <link name="${prefix}${side}_wheel_link">
13 |       <visual>
14 |         <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
15 |         <geometry>
16 |           <mesh filename="file://$(find mec_mobile_description)/meshes/robot_3d/visual/${side}_wheel_X3.STL"/>
17 |         </geometry>
18 |         <material name="dark_gray">
19 |           <color rgba="0.2 0.2 0.2 1.0"/>
20 |         </material>
21 |       </visual>
22 | 
23 |       <collision>
24 |         <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
25 |         <geometry>
26 |           <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
27 |         </geometry>
28 |       </collision>
29 | 
30 |       <inertial>
31 |         <origin xyz="0 0 0" rpy="0 0 0"/>
32 |         <mass value="${wheel_mass}"/>
33 |         <inertia
34 |           ixx="${(wheel_mass/12.0) * (3*wheel_radius*wheel_radius + wheel_width*wheel_width)}" ixy="0" ixz="0"
35 |           iyy="${(wheel_mass/2.0) * (wheel_radius*wheel_radius)}" iyz="0"
36 |           izz="${(wheel_mass/12.0) * (3*wheel_radius*wheel_radius + wheel_width*wheel_width)}"/>
37 |       </inertial>
38 |     </link>
39 | 
40 |     <joint name="${prefix}${side}_wheel_joint" type="continuous">
41 |       <axis xyz="0 1 0"/>
42 |       <parent link="${prefix}base_link"/>
43 |       <child link="${prefix}${side}_wheel_link"/>
44 |       <origin xyz="${x_reflect*wheel_xoff} ${y_reflect*(wheel_separation/2+wheel_yoff)} ${-wheel_radius}" rpy="0 0 0"/>
45 |     </joint>
46 | 
47 |     <gazebo reference="${prefix}${side}_wheel_link">
48 |       <surface>
49 |         <friction>
50 |           <ode>
51 |               <mu>1.0</mu>
52 |               <mu2>0.0</mu2>
53 |           </ode>
54 |         </friction>
55 |       </surface>
56 |       <visual>
57 |           <material>
58 |               <ambient>0.2 0.2 0.2 1.0</ambient>
59 |               <diffuse>0.2 0.2 0.2 1.0</diffuse>
60 |               <specular>0.2 0.2 0.2 1.0</specular>
61 |               <emissive>0.0 0.0 0.0 0.0</emissive>
62 |           </material>
63 |       </visual>
64 |   </gazebo>
65 | 
66 |   </xacro:macro>
67 | </robot>


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/mec_mobile_description/urdf/mech/robot_3d_base.urdf.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 | <xacro:property name="total_width" value="0.19940" />
 4 | <xacro:property name="wheel_width" value="0.0304" />
 5 | <xacro:property name="wheel_radius" value="0.0325" />
 6 | <xacro:property name="total_height" value="0.16225" />
 7 | <xacro:property name="base_length" value="0.300" />
 8 | <xacro:property name="centered_length" value="0.238" />
 9 | <xacro:property name="base_x_offset" value="${(centered_length - base_length) / 2}" />
10 | <xacro:property name="base_size_x" value="${base_length}" />
11 | <xacro:property name="base_size_y" value="${total_width - (2 * wheel_width)}" />
12 | <xacro:property name="base_size_z" value="${total_height - (2 * wheel_radius)}" />
13 | <xacro:property name="base_mass" value="4.6" />
14 | 
15 | <xacro:macro name="robot_3d_base" params="prefix">
16 |   <link name="${prefix}base_footprint"/>
17 |   <link name="${prefix}base_link">
18 |     <visual>
19 |         <geometry>
20 |             <mesh filename="file://$(find mec_mobile_description)/meshes/robot_3d/visual/base_link_X3.STL"/>
21 |         </geometry>
22 |         <material name="white">
23 |           <color rgba="1 1 1 1"/>
24 |         </material>
25 |         <origin xyz="0 0 0" rpy="0 0 0"/>
26 |     </visual>
27 |     <collision>
28 |         <geometry>
29 |             <box size="${base_size_x} ${base_size_y} ${base_size_z}"/>
30 |         </geometry>
31 |         <origin xyz="${base_x_offset} 0 ${base_size_z/2 + wheel_radius/4}" rpy="0 0 0"/>
32 |     </collision>
33 |     <inertial>
34 |         <origin xyz="${base_x_offset} 0 ${base_size_z/2 + wheel_radius/4}" rpy="0 0 0"/>
35 |         <mass value="${base_mass}"/>
36 |         <inertia
37 |             ixx="${(1/12) * base_mass * ((base_size_y * base_size_y) + (base_size_z * base_size_z))}" ixy="0.0" ixz="0.0"
38 |             iyy="${(1/12) * base_mass * ((base_size_x * base_size_x) + (base_size_z * base_size_z))}" iyz="0.0"
39 |             izz="${(1/12) * base_mass * ((base_size_x * base_size_x) + (base_size_y * base_size_y))}"/>
40 |     </inertial>
41 |   </link>
42 |   <gazebo reference="${prefix}base_link">
43 |     <visual>
44 |         <material>
45 |             <ambient>0 0.7 0 1</ambient>
46 |             <diffuse>0 0.7 0 1</diffuse>
47 |             <specular>0 0.7 0 1</specular>
48 |         </material>
49 |     </visual>
50 |   </gazebo>
51 |   <joint name="${prefix}base_joint" type="fixed">
52 |     <parent link="${prefix}base_footprint"/>
53 |     <child link="${prefix}base_link"/>
54 |     <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0"/>
55 |   </joint>
56 | </xacro:macro>
57 | </robot>
58 | 


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/mec_mobile_description/urdf/robots/robot_3d.urdf.xacro:
--------------------------------------------------------------------------------
 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot_3d">
 3 | 
 4 |     <xacro:property name="M_PI" value="3.1415926535897931" />
 5 | 
 6 |     <xacro:arg name="robot_name" default="robot_3d"/>
 7 |     <xacro:arg name="prefix" default=""/>
 8 |     <xacro:arg name="use_gazebo" default="false"/>
 9 | 
10 |     <xacro:include filename="$(find mec_mobile_description)/urdf/mech/robot_3d_base.urdf.xacro"/>
11 |     <xacro:include filename="$(find mec_mobile_description)/urdf/mech/mecanum_wheel.urdf.xacro"/>
12 |     <xacro:include filename="$(find mec_mobile_description)/urdf/sensors/rgbd_camera.urdf.xacro"/>
13 |     <xacro:include filename="$(find mec_mobile_description)/urdf/sensors/lidar.urdf.xacro"/>
14 |     <xacro:include filename="$(find mec_mobile_description)/urdf/sensors/imu.urdf.xacro"/>
15 | 
16 |     <xacro:robot_3d_base prefix="$(arg prefix)"/>
17 | 
18 |     <xacro:mecanum_wheel
19 |       prefix="$(arg prefix)"
20 |       side="front_left"
21 |       x_reflect="1"
22 |       y_reflect="1"/>
23 | 
24 |     <xacro:mecanum_wheel
25 |       prefix="$(arg prefix)"
26 |       side="front_right"
27 |       x_reflect="1"
28 |       y_reflect="-1"/>
29 | 
30 |     <xacro:mecanum_wheel
31 |       prefix="$(arg prefix)"
32 |       side="back_left"
33 |       x_reflect="-1"
34 |       y_reflect="1"/>
35 | 
36 |     <xacro:mecanum_wheel
37 |       prefix="$(arg prefix)"
38 |       side="back_right"
39 |       x_reflect="-1"
40 |       y_reflect="-1"/>
41 | 
42 | 
43 |     <xacro:rgbd_camera
44 |       prefix="$(arg prefix)"
45 |       camera_name="cam_1"
46 |       xyz_offset="0.105 0 0.03"
47 |       rpy_offset="0 0 0"/>
48 | 
49 |     <xacro:lidar_sensor
50 |       prefix="$(arg prefix)"
51 |       parent="base_link"
52 |       frame_id="laser_frame"
53 |       xyz_offset="0 0 0.0825"
54 |       rpy_offset="0 0 3.14"
55 |       mesh_xyz_offset="0 0 0"
56 |       mesh_rpy_offset="${-M_PI/2} 0 0"
57 |       topic_name="scan"/>
58 | 
59 |     <xacro:imu_sensor
60 |       prefix="$(arg prefix)"
61 |       parent="base_link"
62 |       frame_id="imu"
63 |       xyz_offset="0 0 0.006"
64 |       rpy_offset="0 0 0"
65 |       update_rate="15.0"
66 |       topic_name="imu/data"/>
67 | 
68 | </robot>
69 | 


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/mec_mobile_description/urdf/sensors/imu.urdf.xacro:
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 1 | <?xml version="1.0"?>
 2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 3 |     <xacro:property name="M_PI" value="3.1415926535897931" />
 4 | 
 5 |     <xacro:macro name="imu_sensor" params="
 6 |         prefix:=''
 7 |         parent:='base_link'
 8 |         frame_id:='imu'
 9 |         xyz_offset:='0 0 0'
10 |         rpy_offset:='0 0 0'
11 |         inertial_xyz_offset:='0 0 0'
12 |         inertial_rpy_offset:='0 0 0'
13 |         mass:=0.031
14 |         length:=0.03899
15 |         width:=0.03785
16 |         height:=0.01338
17 |         material_name:='imu_black'
18 |         material_color:='0.1 0.1 0.1 1'
19 |         gazebo_material_ambient:='0.1 0.1 0.1 1'
20 |         gazebo_material_diffuse:='0.1 0.1 0.1 1'
21 |         gazebo_material_specular:='0.1 0.1 0.1 1'
22 |         update_rate:='15.0'
23 |         topic_name:='imu/data'
24 |         always_on:=true
25 |         visualize:=false">
26 | 
27 |         <xacro:property name="ixx" value="${(mass/12.0) * (height*height + width*width)}" />
28 |         <xacro:property name="iyy" value="${(mass/12.0) * (length*length + height*height)}" />
29 |         <xacro:property name="izz" value="${(mass/12.0) * (length*length + width*width)}" />
30 | 
31 |         <link name="${prefix}${frame_id}_link">
32 |             <visual>
33 |                 <origin xyz="0 0 0" rpy="0 0 0"/>
34 |                 <geometry>
35 |                     <box size="${length} ${width} ${height}"/>
36 |                 </geometry>
37 |                 <material name="${material_name}">
38 |                     <color rgba="${material_color}"/>
39 |                 </material>
40 |             </visual>
41 | 
42 |             <inertial>
43 |                 <mass value="${mass}" />
44 |                 <origin xyz="${inertial_xyz_offset}" rpy="${inertial_rpy_offset}"/>
45 |                 <inertia
46 |                     ixx="${ixx}"
47 |                     ixy="0.0"
48 |                     ixz="0.0"
49 |                     iyy="${iyy}"
50 |                     iyz="0.0"
51 |                     izz="${izz}" />
52 |             </inertial>
53 |         </link>
54 | 
55 |         <joint name="${prefix}${frame_id}_joint" type="fixed">
56 |             <parent link="${prefix}${parent}"/>
57 |             <child link="${prefix}${frame_id}_link" />
58 |             <origin xyz="${xyz_offset}" rpy="${rpy_offset}"/>
59 |         </joint>
60 | 
61 |         <gazebo reference="${prefix}${frame_id}_link">
62 |             <material>
63 |                 <ambient>${gazebo_material_ambient}</ambient>
64 |                 <diffuse>${gazebo_material_diffuse}</diffuse>
65 |                 <specular>${gazebo_material_specular}</specular>
66 |             </material>
67 |             <sensor name="${prefix}imu_sensor" type="imu">
68 |                 <topic>${topic_name}</topic>
69 |                 <update_rate>${update_rate}</update_rate>
70 |                 <always_on>${always_on}</always_on>
71 |                 <visualize>${visualize}</visualize>
72 |                 <gz_frame_id>${prefix}${frame_id}_link</gz_frame_id>
73 |             </sensor>
74 |         </gazebo>
75 |     </xacro:macro>
76 | </robot>
77 | 


--------------------------------------------------------------------------------
/mec_mobile_description/urdf/sensors/lidar.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 |   <xacro:property name="M_PI" value="3.1415926535897931" />
  4 | 
  5 |   <xacro:macro name="lidar_sensor" params="
  6 |     prefix:=''
  7 |     parent:='base_link'
  8 |     frame_id:='laser_frame'
  9 |     mesh_file:='file://$(find mec_mobile_description)/meshes/rplidar/rplidar_s2.stl'
 10 |     xyz_offset:='0 0 0.0825'
 11 |     rpy_offset:='0 0 0'
 12 |     mesh_xyz_offset:='0 0 0'
 13 |     mesh_rpy_offset:='${-M_PI/2} 0 0'
 14 |     mesh_scale:='0.001 0.001 0.001'
 15 |     collision_xyz_offset:='0 0 0'
 16 |     collision_rpy_offset:='0 0 0'
 17 |     inertial_xyz_offset:='0 0 0'
 18 |     inertial_rpy_offset:='0 0 0'
 19 |     lidar_width:=0.077
 20 |     lidar_height:=0.0398
 21 |     mass:=0.185
 22 |     material_name:='rplidar_black'
 23 |     material_color:='0.1 0.1 0.1 1'
 24 |     gazebo_material_ambient:='0.1 0.1 0.1 1'
 25 |     gazebo_material_diffuse:='0.1 0.1 0.1 1'
 26 |     gazebo_material_specular:='0.1 0.1 0.1 1'
 27 |     update_rate:=10
 28 |     ray_count:=720
 29 |     min_angle:='-3.14159'
 30 |     max_angle:='3.14159'
 31 |     min_range:='0.20'
 32 |     max_range:='30.0'
 33 |     range_resolution:='0.013'
 34 |     topic_name:='scan'
 35 |     always_on:=true
 36 |     visualize:=false
 37 |     enable_collision:=false">
 38 | 
 39 |     <xacro:property name="radius" value="${lidar_width/2}" />
 40 |     <xacro:property name="ixx_iyy" value="${(mass/12) * (3 * radius * radius + lidar_height * lidar_height)}" />
 41 |     <xacro:property name="izz" value="${(mass/2) * (radius * radius)}" />
 42 | 
 43 |     <link name="${prefix}${frame_id}">
 44 |       <visual>
 45 |         <origin xyz="${mesh_xyz_offset}" rpy="${mesh_rpy_offset}"/>
 46 |         <geometry>
 47 |           <mesh filename="${mesh_file}" scale="${mesh_scale}"/>
 48 |         </geometry>
 49 |         <material name="${material_name}">
 50 |           <color rgba="${material_color}"/>
 51 |         </material>
 52 |       </visual>
 53 | 
 54 |       <xacro:if value="${enable_collision}">
 55 |         <collision>
 56 |           <origin xyz="${collision_xyz_offset}" rpy="${collision_rpy_offset}"/>
 57 |           <geometry>
 58 |             <cylinder radius="${lidar_width/2}" length="${lidar_height}"/>
 59 |           </geometry>
 60 |         </collision>
 61 |       </xacro:if>
 62 | 
 63 |       <inertial>
 64 |         <mass value="${mass}" />
 65 |         <origin xyz="${inertial_xyz_offset}" rpy="${inertial_rpy_offset}"/>
 66 |         <inertia
 67 |           ixx="${ixx_iyy}"
 68 |           ixy="0.0"
 69 |           ixz="0.0"
 70 |           iyy="${ixx_iyy}"
 71 |           iyz="0.0"
 72 |           izz="${izz}" />
 73 |       </inertial>
 74 |     </link>
 75 | 
 76 |     <joint name="${prefix}${frame_id}_joint" type="fixed">
 77 |       <parent link="${prefix}${parent}"/>
 78 |       <child link="${prefix}${frame_id}" />
 79 |       <origin xyz="${xyz_offset}" rpy="${rpy_offset}"/>
 80 |     </joint>
 81 | 
 82 |     <gazebo reference="${prefix}${frame_id}">
 83 |       <material>
 84 |         <ambient>${gazebo_material_ambient}</ambient>
 85 |         <diffuse>${gazebo_material_diffuse}</diffuse>
 86 |         <specular>${gazebo_material_specular}</specular>
 87 |       </material>
 88 |       <sensor name="${prefix}lidar_sensor" type="gpu_lidar">
 89 |         <topic>${topic_name}</topic>
 90 |         <update_rate>${update_rate}</update_rate>
 91 |         <always_on>${always_on}</always_on>
 92 |         <visualize>${visualize}</visualize>
 93 |         <ray>
 94 |           <scan>
 95 |             <horizontal>
 96 |               <samples>${ray_count}</samples>
 97 |               <resolution>1</resolution>
 98 |               <min_angle>${min_angle}</min_angle>
 99 |               <max_angle>${max_angle}</max_angle>
100 |             </horizontal>
101 |             <vertical>
102 |               <samples>1</samples>
103 |               <resolution>1</resolution>
104 |               <min_angle>0</min_angle>
105 |               <max_angle>0</max_angle>
106 |             </vertical>
107 |           </scan>
108 |           <range>
109 |             <min>${min_range}</min>
110 |             <max>${max_range}</max>
111 |             <resolution>${range_resolution}</resolution>
112 |           </range>
113 |         </ray>
114 |         <gz_frame_id>${prefix}${frame_id}</gz_frame_id>
115 |       </sensor>
116 |     </gazebo>
117 |   </xacro:macro>
118 | </robot>
119 | 


--------------------------------------------------------------------------------
/mec_mobile_description/urdf/sensors/rgbd_camera.urdf.xacro:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0"?>
  2 | <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
  3 | 
  4 |   <xacro:property name="M_PI" value="3.1415926535897931" />
  5 | 
  6 |   <xacro:macro name="rgbd_camera" params="
  7 |     prefix:=''
  8 |     camera_name:='cam_1'
  9 |     parent:='base_link'
 10 |     mesh_file:='file://$(find mec_mobile_description)/meshes/intel_realsense/visual/d435.stl'
 11 |     xyz_offset:='0.105 0 0.05'
 12 |     rpy_offset:='0 -0.50 0'
 13 |     mesh_xyz_offset:='0 0 0'
 14 |     mesh_rpy_offset:='${M_PI/2} 0.0 ${M_PI/2}'
 15 |     collision_xyz_offset:='0 0 0'
 16 |     collision_rpy_offset:='0 0 0'
 17 |     inertial_xyz_offset:='0 0 0'
 18 |     inertial_rpy_offset:='0 0 0'
 19 |     optical_xyz_offset:='0 0 0'
 20 |     optical_rpy_offset:='${-M_PI/2} 0 ${-M_PI/2}'
 21 |     depth_frame_xyz_offset:='0 0 0'
 22 |     depth_frame_rpy_offset:='0 0 0'
 23 |     infra1_xyz_offset:='0 0 0'
 24 |     infra1_rpy_offset:='0 0 0'
 25 |     infra2_xyz_offset:='0 -0.05 0'
 26 |     infra2_rpy_offset:='0 0 0'
 27 |     color_xyz_offset:='0 0.015 0'
 28 |     color_rpy_offset:='0 0 0'
 29 |     cam_width:=0.090
 30 |     cam_height:=0.025
 31 |     cam_depth:=0.02505
 32 |     mass:=0.072
 33 |     ixx:=0.003881243
 34 |     ixy:=0.0
 35 |     ixz:=0.0
 36 |     iyy:=0.000498940
 37 |     iyz:=0.0
 38 |     izz:=0.003879257
 39 |     material_name:='aluminum'
 40 |     material_color:='0.8 0.8 0.8 1'
 41 |     horizontal_fov:=1.5184
 42 |     image_width:=424
 43 |     image_height:=240
 44 |     clip_near:=0.05
 45 |     clip_far:=1.5
 46 |     update_rate:=2
 47 |     always_on:=1
 48 |     visualize:=true
 49 |     enable_collision:=false">
 50 | 
 51 |     <link name="${prefix}${camera_name}_link">
 52 |       <visual>
 53 |         <origin xyz="${mesh_xyz_offset}" rpy="${mesh_rpy_offset}"/>
 54 |         <geometry>
 55 |           <mesh filename="${mesh_file}" />
 56 |         </geometry>
 57 |         <material name="${material_name}">
 58 |           <color rgba="${material_color}"/>
 59 |         </material>
 60 |       </visual>
 61 |       <xacro:if value="${enable_collision}">
 62 |         <collision>
 63 |           <origin xyz="${collision_xyz_offset}" rpy="${collision_rpy_offset}"/>
 64 |           <geometry>
 65 |             <box size="${cam_depth} ${cam_width} ${cam_height}"/>
 66 |           </geometry>
 67 |         </collision>
 68 |       </xacro:if>
 69 |       <inertial>
 70 |         <mass value="${mass}" />
 71 |         <origin xyz="${inertial_xyz_offset}" rpy="${inertial_rpy_offset}"/>
 72 |         <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}"
 73 |                  iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
 74 |       </inertial>
 75 |     </link>
 76 | 
 77 |     <joint name="${prefix}${camera_name}_joint" type="fixed">
 78 |       <parent link="${prefix}${parent}"/>
 79 |       <child link="${prefix}${camera_name}_link" />
 80 |       <origin xyz="${xyz_offset}" rpy="${rpy_offset}"/>
 81 |     </joint>
 82 | 
 83 |     <joint name="${prefix}${camera_name}_depth_joint" type="fixed">
 84 |       <origin xyz="${depth_frame_xyz_offset}" rpy="${depth_frame_rpy_offset}"/>
 85 |       <parent link="${prefix}${camera_name}_link"/>
 86 |       <child link="${prefix}${camera_name}_depth_frame" />
 87 |     </joint>
 88 |     <link name="${prefix}${camera_name}_depth_frame"/>
 89 | 
 90 |     <joint name="${prefix}${camera_name}_depth_optical_joint" type="fixed">
 91 |       <origin xyz="${optical_xyz_offset}" rpy="${optical_rpy_offset}" />
 92 |       <parent link="${prefix}${camera_name}_depth_frame" />
 93 |       <child link="${prefix}${camera_name}_depth_optical_frame" />
 94 |     </joint>
 95 |     <link name="${prefix}${camera_name}_depth_optical_frame"/>
 96 | 
 97 |     <joint name="${prefix}${camera_name}_infra1_joint" type="fixed">
 98 |       <origin xyz="${infra1_xyz_offset}" rpy="${infra1_rpy_offset}" />
 99 |       <parent link="${prefix}${camera_name}_link" />
100 |       <child link="${prefix}${camera_name}_infra1_frame" />
101 |     </joint>
102 |     <link name="${prefix}${camera_name}_infra1_frame"/>
103 | 
104 |     <joint name="${prefix}${camera_name}_infra1_optical_joint" type="fixed">
105 |       <origin xyz="${optical_xyz_offset}" rpy="${optical_rpy_offset}" />
106 |       <parent link="${prefix}${camera_name}_infra1_frame" />
107 |       <child link="${prefix}${camera_name}_infra1_optical_frame" />
108 |     </joint>
109 |     <link name="${prefix}${camera_name}_infra1_optical_frame"/>
110 | 
111 |     <joint name="${prefix}${camera_name}_infra2_joint" type="fixed">
112 |       <origin xyz="${infra2_xyz_offset}" rpy="${infra2_rpy_offset}" />
113 |       <parent link="${prefix}${camera_name}_link" />
114 |       <child link="${prefix}${camera_name}_infra2_frame" />
115 |     </joint>
116 |     <link name="${prefix}${camera_name}_infra2_frame"/>
117 | 
118 |     <joint name="${prefix}${camera_name}_infra2_optical_joint" type="fixed">
119 |       <origin xyz="${optical_xyz_offset}" rpy="${optical_rpy_offset}" />
120 |       <parent link="${prefix}${camera_name}_infra2_frame" />
121 |       <child link="${prefix}${camera_name}_infra2_optical_frame" />
122 |     </joint>
123 |     <link name="${prefix}${camera_name}_infra2_optical_frame"/>
124 | 
125 |     <joint name="${prefix}${camera_name}_color_joint" type="fixed">
126 |       <origin xyz="${color_xyz_offset}" rpy="${color_rpy_offset}" />
127 |       <parent link="${prefix}${camera_name}_link" />
128 |       <child link="${prefix}${camera_name}_color_frame" />
129 |     </joint>
130 |     <link name="${prefix}${camera_name}_color_frame"/>
131 | 
132 |     <joint name="${prefix}${camera_name}_color_optical_joint" type="fixed">
133 |       <origin xyz="${optical_xyz_offset}" rpy="${optical_rpy_offset}" />
134 |       <parent link="${prefix}${camera_name}_color_frame" />
135 |       <child link="${prefix}${camera_name}_color_optical_frame" />
136 |     </joint>
137 |     <link name="${prefix}${camera_name}_color_optical_frame"/>
138 | 
139 |     <gazebo reference="${prefix}${camera_name}_link">
140 |       <sensor name="${prefix}${camera_name}" type="rgbd_camera">
141 |         <camera>
142 |           <horizontal_fov>${horizontal_fov}</horizontal_fov>
143 |           <image>
144 |             <width>${image_width}</width>
145 |             <height>${image_height}</height>
146 |           </image>
147 |           <clip>
148 |             <near>${clip_near}</near>
149 |             <far>${clip_far}</far>
150 |           </clip>
151 |         </camera>
152 |         <always_on>${always_on}</always_on>
153 |         <gz_frame_id>${prefix}${camera_name}_link</gz_frame_id>
154 |         <topic>${camera_name}</topic>
155 |         <update_rate>${update_rate}</update_rate>
156 |         <visualize>${visualize}</visualize>
157 |       </sensor>
158 |     </gazebo>
159 | 
160 |   </xacro:macro>
161 | </robot>
162 | 


--------------------------------------------------------------------------------