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houyongdi
2026-07-27 13:51:19 +08:00
commit 7bec56ca51
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sensors/hunter_se_description/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(hunter_se_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)
sensors/hunter_se_description/config/joint_names_hunter_se_description_2.yaml
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controller_joint_names: ['', 'fr_left_joint', 'fr_right_joint', 're_left_jiont', 're_right_jiont', ]
sensors/hunter_se_description/launch/display.launch
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<?xml version="1.0"?>
<launch>
<arg name="model" default="$(find hunter_se_description)/urdf/hunter_se_description.urdf"/>
<arg name="gui" default="true"/>
<param name="robot_description" textfile="$(arg model)"/>
<para name="use_gui" value="$(arg gui)"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
</launch>
sensors/hunter_se_description/launch/gazebo.launch
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<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<!-- <node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" /> -->
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find hunter_se_description)/urdf/hunter_se_description.urdf -urdf -model hunter_se_description"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>
sensors/hunter_se_description/meshes/base_link.STL
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sensors/hunter_se_description/meshes/fr_left_link.STL
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sensors/hunter_se_description/meshes/fr_right_link.STL
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sensors/hunter_se_description/meshes/fr_steer_left_link.STL
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sensors/hunter_se_description/meshes/fr_steer_right_link.STL
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sensors/hunter_se_description/meshes/re_left_link.STL
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sensors/hunter_se_description/meshes/re_right_link.STL
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sensors/hunter_se_description/package.xml
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<package format="2">
<name>hunter_se_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for hunter_se_description</p>
<p>This package contains configuration data, 3D models and launch files
for hunter_se_description robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>
sensors/hunter_se_description/rviz.rviz
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 549
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
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_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_steer_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
fr_steer_right_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
re_left_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
re_right_link:
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_link:
Value: true
fr_left_link:
Value: true
fr_right_link:
Value: true
fr_steer_left_link:
Value: true
fr_steer_right_link:
Value: true
re_left_link:
Value: true
re_right_link:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_link:
fr_steer_left_link:
fr_left_link:
{}
fr_steer_right_link:
fr_right_link:
{}
re_left_link:
{}
re_right_link:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: base_link
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
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- 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: 2.7850098609924316
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5403982400894165
Target Frame: <Fixed Frame>
Yaw: 5.213582515716553
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f30000003efc0100000002fb0000000800540069006d00650100000000000004f3000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000282000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1267
X: 211
Y: 27
sensors/hunter_se_description/urdf/hunter_se_description.csv
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,0.0374140021041951,-0.000373005187591258,-0.0771282894414029,0,0,0,14.7373774918344,0.123215829336501,-2.51201031615063E-06,0.00480100638469038,0.219144715482931,-1.0329581476775E-05,0.313606030126045,0,0,0,0,0,0,package://hunter_se_description_2/meshes/base_link.STL,0.752941176470588,0.752941176470588,0.752941176470588,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/base_link.STL,,M-HUTM-010014-A-1;M-HUTM-010001-A-2;电池外盖_20211022_B(3)-1;LP20-4PSX座子_3_V21_V22_V3_1-2;电池盖插销-2;内装式电量显示-1;LANBOO蓝波钥匙开关-开孔19-1;航插充电头-1;电池盖插销-1;平行四边形减震模组-1/减震连接小件-4;尾部侧板-1;平行四边形减震模组-1/减震竖直板-1;平行四边形减震模组-1/减震连接小件-2;平行四边形减震模组-1/减震连接小件-6;平行四边形减震模组-1/减速器车架连接件-1;平行四边形减震模组-1/减震连接小件-3;镜向尾部侧板-2;平行四边形减震模组-2/减速器车架连接件-1;平行四边形减震模组-2/减震连接小件-3;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-2/减震连接小件-6;平行四边形减震模组-2/减震竖直板-1;平行四边形减震模组-2/减震连接小件-2;平行四边形减震模组-2/减震连接小件-4;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震弹簧-1;M-HUTM-010011-A-1;M-HUTM-010012-A-1;M-HUTM-010008-A-1;前桥模组2-2/M-HUTM-010204-A-1;前桥模组2-2/M-HUTM-010206-A-1;灯带-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_3-1;前桥模组2-2/AKM-001-00-1/球头1-2;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_3-1;前桥模组2-2/M-HUTM-010201-B-2;前桥模组2-2/塞打螺钉16_ghx_11_1_3_V20_V21_V22_V3_1-2;前桥模组2-2/M-HUTM-010203-A-2;前桥模组2-2/M-HUTM-010203-A-4;前桥模组2-2/M-HUTM-010201-B-4;M-HUTM-010013-A-1,坐标系base,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
fr_steer_left_link,-0.0002776492198312,0.0163539773588368,4.97346169803237E-09,0,0,0,3.14923108719031,0.0176012120277572,-0.000255822069720042,4.89135197289253E-08,0.0326650592194903,-5.05595058544686E-10,0.0175968940276803,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_left_link.STL,0.223529411764706,0.223529411764706,0.223529411764706,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_left_link.STL,,前车轮-1;前车轮外壳2-2,坐标系5,,fr_steer_left_jiont,fixed,0.34058,0.24619,-0.1535,0,0,0,base_link,0,0,0,,,,,,,,,,,,
fr_left_link,-3.5837499634539E-10,4.97346158701006E-09,-0.016356334080185,0,0,0,3.14923108719031,0.0175968687768806,4.88978895069836E-08,2.59363668202492E-09,0.0175968940276803,1.33582951478864E-09,0.0326694024703669,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_left_link.STL,0.223529411764706,0.223529411764706,0.223529411764706,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_left_link.STL,,前车轮-1;前车轮外壳2-2,坐标系1,基准轴1,fr_left_joint,continuous,0,0,0,1.5708,0,0.016976,fr_steer_left_link,0,0,-1,,,,,,,,,,,,
fr_steer_right_link,0.000274981985673328,-0.0163540222836661,-3.24802407192237E-11,0,0,0,3.14923106523906,0.0176011208398464,-0.000253357559513646,8.00593138443467E-09,0.0326650290732704,5.65898650063874E-11,0.0175967847225325,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_right_link.STL,1,1,1,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_steer_right_link.STL,,前车轮外壳2-1;前车轮-2,坐标系6,,fr_steer_right_link,fixed,0.34219,-0.24619,-0.1535,0,0,0,base_link,0,0,0,,,,,,,,,,,,
fr_right_link,0.00027498198567355,3.24801296969213E-11,-0.0163540222836661,0,0,0,3.14923106523906,0.0176011208398464,-8.00593138518773E-09,-0.000253357559513648,0.0175967847225325,-5.65898177386586E-11,0.0326650290732703,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_right_link.STL,0.223529411764706,0.223529411764706,0.223529411764706,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/fr_right_link.STL,,前车轮-2;前车轮外壳2-1,坐标系2,基准轴2,fr_right_joint,continuous,0,0,0,-1.5708,0,0,fr_steer_right_link,0.016812,0,-0.99986,,,,,,,,,,,,
re_left_link,1.245E-09,1.7252E-06,-0.010284,0,0,0,3.7665,0.018208,-1.1815E-10,-4.2619E-10,0.018208,-5.0277E-07,0.03306,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_left_link.STL,0.37647,0.37647,0.37647,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_left_link.STL,,后车轮-1;后车轮外壳-1,坐标系3,基准轴3,re_left_jiont,continuous,-0.2078,0.252,-0.158,1.5708,0,0,base_link,0,0,-1,,,,,,,,,,,,
re_right_link,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_right_link.STL,1,1,1,1,0,0,0,0,0,0,package://hunter_se_description_2/meshes/re_right_link.STL,,后车轮-2;后车轮外壳-2,坐标系4,基准轴4,re_right_jiont,continuous,-0.2078,-0.252,-0.158,-1.5708,0,0,base_link,0,0,-1,,,,,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link 0.0374140021041951 -0.000373005187591258 -0.0771282894414029 0 0 0 14.7373774918344 0.123215829336501 -2.51201031615063E-06 0.00480100638469038 0.219144715482931 -1.0329581476775E-05 0.313606030126045 0 0 0 0 0 0 package://hunter_se_description_2/meshes/base_link.STL 0.752941176470588 0.752941176470588 0.752941176470588 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/base_link.STL M-HUTM-010014-A-1;M-HUTM-010001-A-2;电池外盖_20211022_B(3)-1;LP20-4PSX座子_3_V21_V22_V3_1-2;电池盖插销-2;内装式电量显示-1;LANBOO蓝波钥匙开关-开孔19-1;航插充电头-1;电池盖插销-1;平行四边形减震模组-1/减震连接小件-4;尾部侧板-1;平行四边形减震模组-1/减震竖直板-1;平行四边形减震模组-1/减震连接小件-2;平行四边形减震模组-1/减震连接小件-6;平行四边形减震模组-1/减速器车架连接件-1;平行四边形减震模组-1/减震连接小件-3;镜向尾部侧板-2;平行四边形减震模组-2/减速器车架连接件-1;平行四边形减震模组-2/减震连接小件-3;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-2/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-2/减震连接小件-6;平行四边形减震模组-2/减震竖直板-1;平行四边形减震模组-2/减震连接小件-2;平行四边形减震模组-2/减震连接小件-4;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆02-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震杆01-1;平行四边形减震模组-1/-孔距100初始150磅电动车弹簧-1/避震弹簧-1;M-HUTM-010011-A-1;M-HUTM-010012-A-1;M-HUTM-010008-A-1;前桥模组2-2/M-HUTM-010204-A-1;前桥模组2-2/M-HUTM-010206-A-1;灯带-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-2/RTLBL10R_3-1;前桥模组2-2/AKM-001-00-1/球头1-2;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_2-1;前桥模组2-2/AKM-001-00-1/RTLBL10R-1/RTLBL10R_3-1;前桥模组2-2/M-HUTM-010201-B-2;前桥模组2-2/塞打螺钉16_ghx_11_1_3_V20_V21_V22_V3_1-2;前桥模组2-2/M-HUTM-010203-A-2;前桥模组2-2/M-HUTM-010203-A-4;前桥模组2-2/M-HUTM-010201-B-4;M-HUTM-010013-A-1 坐标系base 0 0 0 0 0 0 0 0 0
3 fr_steer_left_link -0.0002776492198312 0.0163539773588368 4.97346169803237E-09 0 0 0 3.14923108719031 0.0176012120277572 -0.000255822069720042 4.89135197289253E-08 0.0326650592194903 -5.05595058544686E-10 0.0175968940276803 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_steer_left_link.STL 0.223529411764706 0.223529411764706 0.223529411764706 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_steer_left_link.STL 前车轮-1;前车轮外壳2-2 坐标系5 fr_steer_left_jiont fixed 0.34058 0.24619 -0.1535 0 0 0 base_link 0 0 0
4 fr_left_link -3.5837499634539E-10 4.97346158701006E-09 -0.016356334080185 0 0 0 3.14923108719031 0.0175968687768806 4.88978895069836E-08 2.59363668202492E-09 0.0175968940276803 1.33582951478864E-09 0.0326694024703669 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_left_link.STL 0.223529411764706 0.223529411764706 0.223529411764706 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_left_link.STL 前车轮-1;前车轮外壳2-2 坐标系1 基准轴1 fr_left_joint continuous 0 0 0 1.5708 0 0.016976 fr_steer_left_link 0 0 -1
5 fr_steer_right_link 0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11 0 0 0 3.14923106523906 0.0176011208398464 -0.000253357559513646 8.00593138443467E-09 0.0326650290732704 5.65898650063874E-11 0.0175967847225325 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_steer_right_link.STL 1 1 1 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_steer_right_link.STL 前车轮外壳2-1;前车轮-2 坐标系6 fr_steer_right_link fixed 0.34219 -0.24619 -0.1535 0 0 0 base_link 0 0 0
6 fr_right_link 0.00027498198567355 3.24801296969213E-11 -0.0163540222836661 0 0 0 3.14923106523906 0.0176011208398464 -8.00593138518773E-09 -0.000253357559513648 0.0175967847225325 -5.65898177386586E-11 0.0326650290732703 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_right_link.STL 0.223529411764706 0.223529411764706 0.223529411764706 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/fr_right_link.STL 前车轮-2;前车轮外壳2-1 坐标系2 基准轴2 fr_right_joint continuous 0 0 0 -1.5708 0 0 fr_steer_right_link 0.016812 0 -0.99986
7 re_left_link 1.245E-09 1.7252E-06 -0.010284 0 0 0 3.7665 0.018208 -1.1815E-10 -4.2619E-10 0.018208 -5.0277E-07 0.03306 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_left_link.STL 0.37647 0.37647 0.37647 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_left_link.STL 后车轮-1;后车轮外壳-1 坐标系3 基准轴3 re_left_jiont continuous -0.2078 0.252 -0.158 1.5708 0 0 base_link 0 0 -1
8 re_right_link 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_right_link.STL 1 1 1 1 0 0 0 0 0 0 package://hunter_se_description_2/meshes/re_right_link.STL 后车轮-2;后车轮外壳-2 坐标系4 基准轴4 re_right_jiont continuous -0.2078 -0.252 -0.158 -1.5708 0 0 base_link 0 0 -1
sensors/hunter_se_description/urdf/hunter_se_description.urdf
+537
View File
@@ -0,0 +1,537 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="hunter_se_description">
<link
name="base_link">
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<origin
xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029"
rpy="0 0 0" />
<mass
value="24.73" />
<inertia
ixx="0.123215829336501"
ixy="-2.51201031615063E-06"
ixz="0.00480100638469038"
iyy="0.219144715482931"
iyz="-1.0329581476775E-05"
izz="0.313606030126045" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/base_link.STL" />
</geometry>
<material
name="">
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="fr_steer_left_link">
<inertial>
<origin
xyz="-0.0002776492198312 0.0163539773588368 4.97346169803237E-09"
rpy="0 0 0" />
<mass
value="3.149" />
<inertia
ixx="0.0222"
ixy="0.0"
ixz="0.0"
iyy="0.0222"
iyz="0.0"
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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</collision>
</link>
<joint
name="fr_steer_left_joint"
type="revolute">
<origin
xyz="0.34058 0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_left_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_left_link">
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<origin
xyz="-3.5837499634539E-10 4.97346158701006E-09 -0.016356334080185"
rpy="0 0 0" />
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ixy="0.0"
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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<material
name="">
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rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
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rpy="0 0 0" />
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<mesh
filename="package://hunter_se_description/meshes/fr_left_link.STL" />
</geometry>
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</link>
<joint
name="fr_left_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 0.016976" />
<parent
link="fr_steer_left_link" />
<child
link="fr_left_link" />
<axis
xyz="0 0 -1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="fr_steer_right_link">
<inertial>
<origin
xyz="0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11"
rpy="0 0 0" />
<mass
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ixy="0.0"
ixz="0.0"
iyy="0.0222"
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izz="0.0378075" />
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<visual>
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rpy="0 0 0" />
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<material
name="">
<color
rgba="1 1 1 1" />
</material>
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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</geometry>
</collision>
</link>
<joint
name="fr_steer_right_joint"
type="revolute">
<origin
xyz="0.34219 -0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_right_link">
<inertial>
<origin
xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
rpy="0 0 0" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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</geometry>
</collision>
</link>
<joint
name="fr_right_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="fr_steer_right_link" />
<child
link="fr_right_link" />
<axis
xyz="0 0 1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="re_left_link">
<inertial>
<origin
xyz="1.245E-09 1.7252E-06 -0.010284"
rpy="0 0 0" />
<mass
value="3.149" />
<inertia
ixx="0.0222"
ixy="0.0"
ixz="0.0"
iyy="0.0222"
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izz="0.0378075" />
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<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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filename="package://hunter_se_description/meshes/re_left_link.STL" />
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<material
name="">
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</material>
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<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_left_joint"
type="continuous">
<origin
xyz="-0.2078 0.252 -0.158"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_left_link" />
<axis
xyz="0 0 -1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="re_right_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
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ixy="0.0"
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description/meshes/re_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_right_joint"
type="continuous">
<origin
xyz="-0.2078 -0.252 -0.158"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_right_link" />
<axis
xyz="0 0 1" />
<dynamics damping="0.0" friction="15"/>
</joint>
<link
name="front_steer_link">
<inertial>
<origin
xyz="0.049836 8.1046E-15 0.017912"
rpy="0 0 0" />
<mass
value="0.0049179" />
<inertia
ixx="1.6846E-07"
ixy="7.6396E-23"
ixz="-1.0974E-08"
iyy="7.549E-07"
iyz="-1.8957E-22"
izz="7.334E-07" />
</inertial>
<visual>
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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</geometry>
</collision>
</link>
<joint
name="front_steer_joint"
type="revolute">
<origin
xyz="0.40792 -1.1431E-05 -0.085581"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="front_steer_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.72"
upper="0.72"
effort="0"
velocity="0" />
</joint>
<link
name="rear_wheel_link">
<inertial>
<origin
xyz="-0.02 0.0031269 -0.12735"
rpy="0 0 0" />
<mass
value="0.0049179" />
<inertia
ixx="1.1821E-06"
ixy="9.6965E-13"
ixz="-3.1553E-12"
iyy="9.5276E-07"
iyz="1.2428E-08"
izz="1.0913E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<cylinder length="0.001" radius="0.005"/>
</geometry>
</collision>
</link>
<joint
name="rear_wheel_joint"
type="continuous">
<origin
xyz="-0.30408 -1.1431E-05 -0.085581"
rpy="0.0032313 0 0" />
<parent
link="base_link" />
<child
link="rear_wheel_link" />
<axis
xyz="0 0 1" />
</joint>
<gazebo reference="fr_left_link">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="fr_right_link">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="re_left_link">
<mu1>0.8</mu1>
<mu2>10</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo reference="re_right_link">
<mu1>0.8</mu1>
<mu2>10</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/Grey </material>
</gazebo>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotSimType>steer_bot_hardware_gazebo/SteerBotHardwareGazebo</robotSimType>
<legacyModeNS>false</legacyModeNS>
</plugin>
</gazebo>
</robot>
sensors/hunter_se_description/urdf/hunter_se_description.xacro
+372
View File
@@ -0,0 +1,372 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="hunter_se_description_2">
<link
name="base_link">
<inertial>
<origin
xyz="0.0374140021041951 -0.000373005187591258 -0.0771282894414029"
rpy="0 0 0" />
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value="0.01" />
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ixx="0.123215829336501"
ixy="-2.51201031615063E-06"
ixz="0.00480100638469038"
iyy="0.219144715482931"
iyz="-1.0329581476775E-05"
izz="0.313606030126045" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="fr_steer_left_link">
<inertial>
<origin
xyz="-0.0002776492198312 0.0163539773588368 4.97346169803237E-09"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.0176012120277572"
ixy="-0.000255822069720042"
ixz="4.89135197289253E-08"
iyy="0.0326650592194903"
iyz="-5.05595058544686E-10"
izz="0.0175968940276803" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material
name="">
<color
rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint
name="fr_steer_left_jiont"
type="revolute">
<origin
xyz="0.34058 0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_left_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_left_link">
<inertial>
<origin
xyz="-3.5837499634539E-10 4.97346158701006E-09 -0.016356334080185"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.0175968687768806"
ixy="4.88978895069836E-08"
ixz="2.59363668202492E-09"
iyy="0.0175968940276803"
iyz="1.33582951478864E-09"
izz="0.0326694024703669" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="fr_left_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="1.5708 0 0.016976" />
<parent
link="fr_steer_left_link" />
<child
link="fr_left_link" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="fr_steer_right_link">
<inertial>
<origin
xyz="0.000274981985673328 -0.0163540222836661 -3.24802407192237E-11"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.0176011208398464"
ixy="-0.000253357559513646"
ixz="8.00593138443467E-09"
iyy="0.0326650290732704"
iyz="5.65898650063874E-11"
izz="0.0175967847225325" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint
name="fr_steer_right_link"
type="revolute">
<origin
xyz="0.34219 -0.24619 -0.1535"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="fr_steer_right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.69"
upper="0.69"
effort="0"
velocity="0" />
</joint>
<link
name="fr_right_link">
<inertial>
<origin
xyz="0.00027498198567355 3.24801296969213E-11 -0.0163540222836661"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.0176011208398464"
ixy="-8.00593138518773E-09"
ixz="-0.000253357559513648"
iyy="0.0175967847225325"
iyz="-5.65898177386586E-11"
izz="0.0326650290732703" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.223529411764706 0.223529411764706 0.223529411764706 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/fr_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="fr_right_joint"
type="continuous">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="fr_steer_right_link" />
<child
link="fr_right_link" />
<axis
xyz="0 0 1" />
</joint>
<link
name="re_left_link">
<inertial>
<origin
xyz="1.245E-09 1.7252E-06 -0.010284"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.018208"
ixy="-1.1815E-10"
ixz="-4.2619E-10"
iyy="0.018208"
iyz="-5.0277E-07"
izz="0.03306" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.37647 0.37647 0.37647 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_left_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_left_jiont"
type="continuous">
<origin
xyz="-0.2078 0.252 -0.158"
rpy="1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_left_link" />
<axis
xyz="0 0 -1" />
</joint>
<link
name="re_right_link">
<inertial>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<mass
value="0.01" />
<inertia
ixx="0.0176011208398464"
ixy="-8.00593138518773E-09"
ixz="-0.000253357559513648"
iyy="0.0175967847225325"
iyz="-5.65898177386586E-11"
izz="0.0326650290732703" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hunter_se_description_2/meshes/re_right_link.STL" />
</geometry>
</collision>
</link>
<joint
name="re_right_jiont"
type="continuous">
<origin
xyz="-0.2078 -0.252 -0.158"
rpy="-1.5708 0 0" />
<parent
link="base_link" />
<child
link="re_right_link" />
<axis
xyz="0 0 1" />
</joint>
</robot>