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Fixes to P3AT gazebo config and other files from thpe's fork #8

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Fixes to P3AT gazebo config and other files from thpe's fork #8

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9656fa7
fixed some issuses with Jessie/gazebo7
thpe Oct 28, 2016
f6b6319
fixed some issuses with Jessie/gazebo7
thpe Oct 28, 2016
ca9ace8
updated urdf
thpe Nov 1, 2016
a07db2c
added link for ekf
thpe Nov 2, 2016
fcd187e
fixed colours
thpe Nov 24, 2016
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2 changes: 1 addition & 1 deletion description/urdf/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ displayjs-%: %.urdf

%.urdf: %.urdf.xacro
-mv $@ $@.bak
rosrun xacro xacro.py $< >$@ || mv $@.bak $@ || rm @0
rosrun xacro xacro --inorder $< >$@ || mv $@.bak $@ || rm @0

#%.urdf: %.xacro
# mv $@ $@.bak; rosrun xacro xacro.py $< >$@ || mv $@.bak $@
Expand Down
91 changes: 83 additions & 8 deletions description/urdf/pioneer3at.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,24 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="pioneer3at" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="SonarYellow">
<color rgba="0.715 0.583 0.210 1.0"/>
</material>
<material name="WheelBlack">
<color rgba="0.117 0.117 0.117 1.0"/>
</material>
<material name="HubcapYellow">
<color rgba="1.0 0.811 0.151 1.0"/>
</material>
<material name="ChassisRed">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="TopBlack">
<color rgba="0.038 0.038 0.038 1.0"/>
</material>
<material name="ChassisGrey">
<color rgba="0.47 0.47 0.47 1.0"/>
</material>
<!-- Chassis -->
<link name="base_link">
<!-- For pointers on inertial and gazebo-related parameters see
Expand Down Expand Up @@ -36,8 +54,45 @@
</collision>
</link>
<gazebo reference="base_link">
<material value="Gazebo/Red"/>
<material>
<!--
<script>
<uri>/usr/share/gazebo-7/media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Green</name>
</script>
-->
<ambient>1 0 0 0</ambient>
<diffuse>1 0 0 0</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 1</emissive>
</material>
</gazebo>
<joint name="imu_joint" type="fixed">
<axis xyz="1 0 0"/>
<!-- 0 1 0 -->
<origin xyz="0 0 0.19"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<link name="imu_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".001 .001 .001"/>
</geometry>
</collision>
</link>
<!-- Top -->
<link name="top_plate">
<inertial>
Expand All @@ -57,7 +112,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -88,7 +143,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -118,7 +173,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand All @@ -130,6 +185,7 @@
<parent link="base_link"/>
<child link="back_sonar"/>
</joint>
<!-- Front Axles + Wheels + Hubcaps -->
<link name="p3at_front_left_axle">
<inertial>
<mass value="0.1"/>
Expand All @@ -148,7 +204,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -178,7 +234,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -226,6 +282,7 @@
<parent link="p3at_front_left_hub"/>
<child link="p3at_front_left_wheel"/>
</joint>
<!-- Back Axles + Wheels + Hubcaps -->
<link name="p3at_back_left_axle">
<inertial>
<mass value="0.1"/>
Expand Down Expand Up @@ -317,6 +374,7 @@
<parent link="p3at_back_left_hub"/>
<child link="p3at_back_left_wheel"/>
</joint>
<!-- see http://gazebosim.org/tutorials/?tut=ros_urdf -->
<gazebo reference="p3at_back_left_wheel">
<kp>1000000.0</kp>
<!-- kp and kd for rubber -->
Expand Down Expand Up @@ -351,6 +409,7 @@
<minDepth>0.00</minDepth>
<material value="Gazebo/Black"/>
</gazebo>
<!-- Front Axles + Wheels + Hubcaps -->
<link name="p3at_front_right_axle">
<inertial>
<mass value="0.1"/>
Expand All @@ -369,7 +428,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -399,7 +458,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0 0 0"/>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
</link>
Expand Down Expand Up @@ -447,6 +506,7 @@
<parent link="p3at_front_right_hub"/>
<child link="p3at_front_right_wheel"/>
</joint>
<!-- Back Axles + Wheels + Hubcaps -->
<link name="p3at_back_right_axle">
<inertial>
<mass value="0.1"/>
Expand Down Expand Up @@ -538,6 +598,7 @@
<parent link="p3at_back_right_hub"/>
<child link="p3at_back_right_wheel"/>
</joint>
<!-- see http://gazebosim.org/tutorials/?tut=ros_urdf -->
<gazebo reference="p3at_back_right_wheel">
<kp>1000000.0</kp>
<!-- kp and kd for rubber -->
Expand Down Expand Up @@ -573,6 +634,14 @@
<material value="Gazebo/Black"/>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_imu.so" name="imu_plugin">
<alwaysOn>true</alwaysOn>
<bodyName>imu_link</bodyName>
<topicName>imu_data</topicName>
<serviceName>imu_service</serviceName>
<gaussianNoise>0.0</gaussianNoise>
<updateRate>30.0</updateRate>
</plugin>
<plugin filename="libgazebo_ros_skid_steer_drive.so" name="skid_steer_drive_controller">
<updateRate>100.0</updateRate>
<robotNamespace>sim_p3at</robotNamespace>
Expand All @@ -590,6 +659,12 @@
<odometryFrame>odom</odometryFrame>
<broadcastTF>1</broadcastTF>
</plugin>
<plugin filename="libgazebo_ros_p3d.so" name="ground_truth">
<frameName>map</frameName>
<bodyName>base_link</bodyName>
<topicName>odom_gt</topicName>
<updateRate>30.0</updateRate>
</plugin>
</gazebo>
</robot>

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