Difference between revisions of "Modelo para simulación MYRAbot (urdf+gazebo)"
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[[Mobile manipulation | < volver a principal]] | [[Mobile manipulation | < volver a principal]] | ||
Revision as of 09:56, 12 November 2013
Modelo del MYRAbot
Se ha comenzado realizado un modelo de la estructura del MYRAbot a le que se le ha añadido la base Roomba, la cámara kinect y el brazo modelado. Hemos comenzado creando un package que va a contener el modelo de nuestro robot, que llamaremos "myrabot_fer_modelo", con la dependencia urdf.
URDF estructura MYRAbot
Se ha realizado previamente un modelo 3D de la estructura con un programa CAD, del que vamos a emplear las partes con una geometria singular, ya que el diseño empleando los elementos geométricos básicos sería complicado.
Para el archivo principal crearemos un archivo llamdo "estructura-myrabot.xacro" en el directorio "urdf" de el package anteriormente creado, con el siguiente contenido:
<?xml version="1.0"?>
<robot>
<include filename="$(find myrabot_fer_modelo)/urdf/estructura-myrabot-macros.xacro" />
<macro name="estructura_myrabot" params="parent *origin">
<joint name="world_joint" type="fixed">
<parent link="${parent}"/>
<child link="e_base_1_link"/>
<insert_block name="origin" />
</joint>
<link name="e_base_1_link">
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.015/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.015/2}"/>
<geometry>
<cylinder radius="0.135" length="0.015" />
</geometry>
<material name="wood">
<color rgba="${205/255} ${133/255} ${63/255} 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.015/2}"/>
<geometry>
<cylinder radius="0.135" length="0.015" />
</geometry>
</collision>
</link>
<separador_base id="1" />
<e_separador_base id="1" xsim="1" ysim="1" />
<separador_base id="2" />
<e_separador_base id="2" xsim="1" ysim="-1" />
<separador_base id="3" />
<e_separador_base id="3" xsim="-1" ysim="-1" />
<separador_base id="4" />
<e_separador_base id="4" xsim="-1" ysim="1" />
<joint name="base_2" type="fixed">
<parent link="e_base_1_link"/>
<child link="e_base_2_link"/>
<origin xyz="0 0 0.135" rpy="0 0 0" />
</joint>
<link name="e_base_2_link">
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.02/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.02/2}"/>
<geometry>
<cylinder radius="0.135" length="0.02" />
</geometry>
<material name="wood">
<color rgba="${205/255} ${133/255} ${63/255} 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 0.135 ${0.02/2}"/>
<geometry>
<cylinder radius="0.135" length="0.02" />
</geometry>
</collision>
</link>
<joint name="pilar" type="fixed">
<parent link="e_base_2_link"/>
<child link="e_pilar_link"/>
<origin xyz="0 0 0.02" rpy="0 0 0" />
</joint>
<link name="e_pilar_link">
<inertial>
<mass value="0.08"/>
<origin rpy="0 0 0" xyz="0 0 ${0.7/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_pilar.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_pilar.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="botonera" type="fixed">
<parent link="e_base_2_link"/>
<child link="e_botonera_link"/>
<origin xyz="0 0 0.02" rpy="0 0 0" />
</joint>
<link name="e_botonera_link">
<inertial>
<mass value="0.06"/>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.1/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.1/2}"/>
<geometry>
<box size="0.2 0.09 0.1"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.1/2}"/>
<geometry>
<box size="0.2 0.09 0.1"/>
</geometry>
</collision>
</link>
<joint name="start_button_1" type="fixed">
<parent link="e_botonera_link"/>
<child link="e_start_button_1_link"/>
<origin xyz="-0.06 0 0.1" rpy="0 0 0" />
</joint>
<link name="e_start_button_1_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.002/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.002/2}"/>
<geometry>
<cylinder radius="0.009" length="0.002"/>
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.002/2}"/>
<geometry>
<cylinder radius="0.009" length="0.002"/>
</geometry>
</collision>
</link>
<joint name="start_button_2" type="fixed">
<parent link="e_start_button_1_link"/>
<child link="e_start_button_2_link"/>
<origin xyz="0.0 0 0.002" rpy="0 0 0" />
</joint>
<link name="e_start_button_2_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.004/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.004/2}"/>
<geometry>
<cylinder radius="0.0075" length="0.004"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.004/2}"/>
<geometry>
<cylinder radius="0.0075" length="0.004"/>
</geometry>
</collision>
</link>
<joint name="emergency_button_1" type="fixed">
<parent link="e_botonera_link"/>
<child link="e_emergency_button_1_link"/>
<origin xyz="0.06 0 0.1" rpy="0 0 0" />
</joint>
<link name="e_emergency_button_1_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.015/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.015/2}"/>
<geometry>
<cylinder radius="0.0125" length="0.015"/>
</geometry>
<material name="metal" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.015/2}"/>
<geometry>
<cylinder radius="0.0125" length="0.015"/>
</geometry>
</collision>
</link>
<joint name="emergency_button_2" type="fixed">
<parent link="e_emergency_button_1_link"/>
<child link="e_emergency_button_2_link"/>
<origin xyz="0.0 0 0.015" rpy="0 0 0" />
</joint>
<link name="e_emergency_button_2_link">
<inertial>
<mass value="0.001"/>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.003/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.003/2}"/>
<geometry>
<cylinder radius="0.018" length="0.003"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.135 ${0.165-(0.09/2)} ${0.003/2}"/>
<geometry>
<cylinder radius="0.018" length="0.003"/>
</geometry>
</collision>
</link>
<joint name="base_kinect" type="fixed">
<parent link="e_pilar_link"/>
<child link="e_base_kinect_link"/>
<origin xyz="0 0 ${0.395-0.155}" rpy="0 0 0" />
</joint>
<link name="e_base_kinect_link">
<inertial>
<mass value="0.02"/>
<origin rpy="0 0 0" xyz="0 0 ${0.005/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_kinect.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_kinect.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="base_brazo_1" type="fixed">
<parent link="e_pilar_link"/>
<child link="e_base_brazo_1_link"/>
<origin xyz="0 0 ${0.708-(0.395-0.155)}" rpy="0 0 0" />
</joint>
<link name="e_base_brazo_1_link">
<inertial>
<mass value="0.03"/>
<origin rpy="0 0 0" xyz="0 0 ${0.005/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_brazo_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_brazo_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<separador_base_brazo id="1" />
<e_separador_base_brazo id="1" xsim="1" ysim="1" />
<separador_base_brazo id="2" />
<e_separador_base_brazo id="2" xsim="1" ysim="-1" />
<separador_base_brazo id="3" />
<e_separador_base_brazo id="3" xsim="-1" ysim="-1" />
<separador_base_brazo id="4" />
<e_separador_base_brazo id="4" xsim="-1" ysim="1" />
<joint name="base_brazo_2" type="fixed">
<parent link="e_base_brazo_1_link"/>
<child link="e_base_brazo_2_link"/>
<origin xyz="0 0 0.074" rpy="0 0 0" />
</joint>
<link name="e_base_brazo_2_link">
<inertial>
<mass value="0.005"/>
<origin rpy="0 0 0" xyz="0 0 ${0.005/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_brazo_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_base_brazo_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="soporte_1" type="fixed">
<parent link="e_pilar_link"/>
<child link="e_soporte_1_link"/>
<origin xyz="0 0 ${0.995-(0.708-0.155)-(0.395-0.155)}" rpy="0 0 0" />
</joint>
<link name="e_soporte_1_link">
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 ${0.64/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="soporte_2" type="fixed">
<parent link="e_soporte_1_link"/>
<child link="e_soporte_2_link"/>
<origin xyz="0 0.2 0.61" rpy="-0.12 0 0" />
</joint>
<link name="e_soporte_2_link">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0 0 ${0.06/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 -0.2 -0.03"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.2 -0.03"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="monitor" type="fixed">
<parent link="e_soporte_2_link"/>
<child link="e_monitor_link"/>
<origin xyz="0 -0.2 -0.09" rpy="0 0 0" />
</joint>
<link name="e_monitor_link">
<inertial>
<mass value="0.1"/>
<origin rpy="0 0 0" xyz="0 0 ${0.180/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_monitor.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_monitor.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="pantalla" type="fixed">
<parent link="e_monitor_link"/>
<child link="e_pantalla_link"/>
<origin xyz="0.135 ${0.135-0.005-0.03-0.0001} 0.086" rpy="0 0 0" />
</joint>
<link name="e_pantalla_link">
<inertial>
<mass value="0.0001"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.22 0.0001 0.130" />
</geometry>
<material name="black" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.22 0.0001 0.127" />
</geometry>
</collision>
</link>
<gazebo_propiedades nombre="e_base_1_link" material="LightWood" />
<gazebo_propiedades nombre="e_base_2_link" material="LightWood" />
<gazebo_propiedades nombre="e_separador_base_1_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_2_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_3_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_4_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_brazo_1_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_brazo_2_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_brazo_3_link" material="Grey" />
<gazebo_propiedades nombre="e_separador_base_brazo_4_link" material="Grey" />
<gazebo_propiedades nombre="e_pilar_link" material="LightWood" />
<gazebo_propiedades nombre="e_base_kinect_link" material="LightWood" />
<gazebo_propiedades nombre="e_base_brazo_1_link" material="LightWood" />
<gazebo_propiedades nombre="e_base_brazo_2_link" material="LightWood" />
<gazebo_propiedades nombre="e_botonera_link" material="LightWood" />
<gazebo_propiedades nombre="e_start_button_1_link" material="Black" />
<gazebo_propiedades nombre="e_start_button_2_link" material="Green" />
<gazebo_propiedades nombre="e_emergency_button_1_link" material="Grey" />
<gazebo_propiedades nombre="e_emergency_button_2_link" material="Red" />
<gazebo_propiedades nombre="e_soporte_1_link" material="LightWood" />
<gazebo_propiedades nombre="e_soporte_2_link" material="LightWood" />
<gazebo_propiedades nombre="e_monitor_link" material="LightWood" />
<gazebo_propiedades nombre="e_pantalla_link" material="Black" />
</macro>
</robot>
Los archivos empleados, con los modelos de malla 3D ".stl", en la descrición de la estructura del robot se pueden descargar a continuación, deben guardarse en el directorio "meshes" de nuestro package:
- e_ e_pilar.stl
- e_base_kinect.stl
- e_ e_base_brazo_1.stl
- e_ e_base_brazo_2.stl
- e_ e_soporte_1.stl
- e_ e_soporte_2.stl
- e_ e_monitor.stl
Los macros que estamos usando en el archivo principal del URDF son los que se muestran continuación, que guardaremos en un archivo llamado "estructura-myrabot-macros.xacro" en el directorio "urdf" de nuestro package:
<?xml version="1.0"?>
<robot>
<macro name="default_inertia_e">
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</macro>
<macro name="separador_base" params="id">
<joint name="separador_base_${id}" type="fixed">
<parent link="e_base_1_link"/>
<child link="e_separador_base_${id}_link"/>
<origin xyz="0.135 0.135 0.015" rpy="0 0 0" />
</joint>
</macro>
<macro name="e_separador_base" params="id xsim ysim">
<link name="e_separador_base_${id}_link">
<inertial>
<mass value="0.02"/>
<origin rpy="0 0 0" xyz="${xsim*0.040} ${ysim*0.105} ${0.120/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="${xsim*0.040} ${ysim*0.105} ${0.120/2}"/>
<geometry>
<cylinder radius="0.0075" length="0.120" />
</geometry>
<material name="metal">
<color rgba="${211/255} ${211/255} ${211/255} 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="${xsim*0.040} ${ysim*0.105} ${0.120/2}"/>
<geometry>
<cylinder radius="0.0075" length="0.120" />
</geometry>
</collision>
</link>
</macro>
<macro name="separador_base_brazo" params="id">
<joint name="separador_base_brazo_${id}" type="fixed">
<parent link="e_base_brazo_1_link"/>
<child link="e_separador_base_brazo_${id}_link"/>
<origin xyz="0.135 ${0.135-0.082} 0.075" rpy="0 0 0" />
</joint>
</macro>
<macro name="e_separador_base_brazo" params="id xsim ysim">
<link name="e_separador_base_brazo_${id}_link">
<inertial>
<mass value="0.002"/>
<origin rpy="0 0 0" xyz="${xsim*0.029} ${ysim*0.019} ${0.034/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="${xsim*0.029} ${ysim*0.019} ${0.034/2}"/>
<geometry>
<cylinder radius="0.002" length="0.034" />
</geometry>
<material name="metal" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="${xsim*0.029} ${ysim*0.019} ${0.034/2}"/>
<geometry>
<cylinder radius="0.002" length="0.034" />
</geometry>
</collision>
</link>
</macro>
<macro name="gazebo_propiedades" params="nombre material">
<gazebo reference="${nombre}">
<material>Gazebo/${material}</material>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>true</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</macro>
</robot>
URDF Roomba
Para la base móvil Roomba se ha empleado el modelo del turtlebot, aunque equipado con una base móvil create, esta tiene unas físicas y sensores similares a la nuestra. Para esto necesitamos instalar los stacks turtlebot y turtlebot_simulator, que contienen el modelo y los plugins para gazebo, respectivamente. Eliminando lo que no necesitamos del modelo del turtlebot y modificacndo el elemento de la base, el contenido del archivo que guardaremos con el nombre "roomba.xacro" en el directorio "urdf" de nuestro package, es el siguiente:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<property name="M_PI" value="3.14159"/>
<include filename="$(find myrabot_fer_modelo)/urdf/gazebo.xacro"/>
<property name="base_x" value="0.33" />
<property name="base_y" value="0.33" />
<xacro:macro name="create">
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<link name="base_footprint">
<inertial>
<mass value="0.0001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="Green" />
</visual>
<collision>
<origin xyz="0 0 0.017" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="base_link">
<inertial>
<mass value="3.6" />
<origin xyz="0 0 ${0.092/2}" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0" izz="0.5" />
</inertial>
<visual>
<origin xyz=" 0 0 ${0.092/2}" rpy="0 0 0" />
<geometry>
<cylinder length="0.092" radius="0.17"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 ${0.092/2}" rpy="0 0 0" />
<geometry>
<cylinder length="0.092" radius="0.17"/>
</geometry>
</collision>
</link>
<link name="wall_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="left_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="right_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<link name="leftfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="rightfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.017" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
</joint>
<joint name="base_wall_sensor_joint" type="fixed">
<origin xyz="0.09 -0.120 0.042" rpy="0 0 -1.0" />
<parent link="base_link"/>
<child link="wall_sensor_link" />
</joint>
<joint name="base_left_cliff_sensor_joint" type="fixed">
<origin xyz="0.07 0.14 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="left_cliff_sensor_link" />
</joint>
<joint name="base_right_cliff_sensor_joint" type="fixed">
<origin xyz="0.07 -0.14 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="right_cliff_sensor_link" />
</joint>
<joint name="base_leftfront_cliff_sensor_joint" type="fixed">
<origin xyz="0.15 0.04 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="leftfront_cliff_sensor_link" />
</joint>
<joint name="base_rightfront_cliff_sensor_joint" type="fixed">
<origin xyz="0.15 -0.04 0.01" rpy="0 1.57079 0" />
<parent link="base_link"/>
<child link="rightfront_cliff_sensor_link" />
</joint>
<link name="left_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</collision>
</link>
<joint name="left_wheel_joint" type="continuous">
<origin xyz="0 0.13 0.015" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="left_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="right_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<cylinder radius="0.033" length = "0.023"/>
</geometry>
</collision>
</link>
<joint name="right_wheel_joint" type="continuous">
<origin xyz="0 -0.13 0.015" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="right_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="rear_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<sphere radius="0.015" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<sphere radius="0.015" />
</geometry>
</collision>
</link>
<joint name="rear_castor_joint" type="fixed">
<origin xyz="-0.13 0 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="rear_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<link name="front_wheel_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707"/>
<geometry>
<sphere radius="0.018" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 1.5707 1.5707" />
<geometry>
<sphere radius="0.018" />
</geometry>
</collision>
</link>
<joint name="front_castor_joint" type="fixed">
<origin xyz="0.13 0 0.0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="front_wheel_link"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="gyro_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0 0 0.04" rpy="0 0 0" />
<parent link="base_link"/>
<child link="gyro_link"/>
</joint>
<link name="gyro_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="laser_joint" type="fixed">
<origin xyz="-0.065 0 0.075" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser" />
</joint>
<link name="laser">
<visual>
<geometry>
<box size="0.02 0.035 0.002" />
</geometry>
<material name="Green" />
</visual>
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<gaezebo>
<material>Gazebo/White</material>
</gaezebo>
<turtlebot_sim_imu/>
<turtlebot_sim_laser/>
<turtlebot_sim_create/>
<turtlebot_sim_wall_sensors/>
</xacro:macro>
</robot>
Para su uso en el simulador gazebo debemos añadir los plugins de los diferentes sensores de la base. Crearemos un archivo llamado "gazebo-roomba.xacro" en el directorio "urdf" de nuestro package con el siguiente contenido:
<?xml version="1.0"?>
<robot 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">
<xacro:macro name="turtlebot_sim_imu">
<gazebo>
<controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
<alwaysOn>true</alwaysOn>
<updateRate>30</updateRate>
<bodyName>gyro_link</bodyName>
<topicName>imu/data</topicName>
<gaussianNoise>${0.0017*0.0017}</gaussianNoise>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
<interface:position name="imu_position"/>
</controller:gazebo_ros_imu>
</gazebo>
</xacro:macro>
<xacro:macro name="turtlebot_sim_laser">
<gazebo reference="laser">
<sensor:ray name="laser">
<rayCount>180</rayCount>
<rangeCount>180</rangeCount>
<laserCount>1</laserCount>
<origin>0.0 0.0 0.0</origin>
<displayRays>false</displayRays>
<minAngle>-130</minAngle>
<maxAngle>130</maxAngle>
<minRange>0.08</minRange>
<maxRange>10.0</maxRange>
<resRange>0.01</resRange>
<updateRate>20</updateRate>
<controller:gazebo_ros_laser name="gazebo_ros_laser_controller" plugin="libgazebo_ros_laser.so">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<topicName>scan</topicName>
<frameName>laser</frameName>
<interface:laser name="gazebo_ros_laser_iface" />
</controller:gazebo_ros_laser>
</sensor:ray>
</gazebo>
</xacro:macro>
<xacro:macro name="turtlebot_sim_create">
<gazebo>
<controller:gazebo_ros_create name="create_controller" plugin="libgazebo_ros_create.so">
<alwaysOn>true</alwaysOn>
<node_namespace>turtlebot_node</node_namespace>
<left_wheel_joint>left_wheel_joint</left_wheel_joint>
<right_wheel_joint>right_wheel_joint</right_wheel_joint>
<front_castor_joint>front_castor_joint</front_castor_joint>
<rear_castor_joint>rear_castor_joint</rear_castor_joint>
<wheel_separation>.260</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>
<base_geom>base_link_geom_base_link</base_geom>
<updateRate>40</updateRate>
<torque>1.0</torque>
</controller:gazebo_ros_create>
</gazebo>
</xacro:macro>
<xacro:macro name="turtlebot_sim_wall_sensors">
<gazebo reference="wall_sensor_link">
<sensor:ray name="wall_sensor">
<alwaysActive>true</alwaysActive>
<rayCount>1</rayCount>
<rangeCount>1</rangeCount>
<resRange>0.1</resRange>
<minAngle>0</minAngle>
<maxAngle>0</maxAngle>
<minRange>0.0160</minRange>
<maxRange>0.04</maxRange>
<displayRays>false</displayRays>
</sensor:ray>
</gazebo>
<gazebo reference="left_cliff_sensor_link">
<sensor:ray name="left_cliff_sensor">
<alwaysActive>true</alwaysActive>
<rayCount>1</rayCount>
<rangeCount>1</rangeCount>
<resRange>0.1</resRange>
<minAngle>0</minAngle>
<maxAngle>0</maxAngle>
<minRange>0.01</minRange>
<maxRange>0.04</maxRange>
<displayRays>false</displayRays>
</sensor:ray>
</gazebo>
<gazebo reference="right_cliff_sensor_link">
<sensor:ray name="right_cliff_sensor">
<alwaysActive>true</alwaysActive>
<rayCount>1</rayCount>
<rangeCount>1</rangeCount>
<resRange>0.1</resRange>
<minAngle>0</minAngle>
<maxAngle>0</maxAngle>
<minRange>0.01</minRange>
<maxRange>0.04</maxRange>
<displayRays>false</displayRays>
</sensor:ray>
</gazebo>
<gazebo reference="leftfront_cliff_sensor_link">
<sensor:ray name="leftfront_cliff_sensor">
<alwaysActive>true</alwaysActive>
<rayCount>1</rayCount>
<rangeCount>1</rangeCount>
<resRange>0.1</resRange>
<minAngle>0</minAngle>
<maxAngle>0</maxAngle>
<minRange>0.01</minRange>
<maxRange>0.04</maxRange>
<displayRays>false</displayRays>
</sensor:ray>
</gazebo>
<gazebo reference="rightfront_cliff_sensor_link">
<sensor:ray name="rightfront_cliff_sensor">
<alwaysActive>true</alwaysActive>
<rayCount>1</rayCount>
<rangeCount>1</rangeCount>
<resRange>0.1</resRange>
<minAngle>0</minAngle>
<maxAngle>0</maxAngle>
<minRange>0.01</minRange>
<maxRange>0.04</maxRange>
<displayRays>fan</displayRays>
</sensor:ray>
</gazebo>
<gazebo reference="left_wheel_link">
<mu1 value="10"/>
<mu2 value="10"/>
<kp value="100000000.0"/>
<kd value="10000.0"/>
<fdir value="1 0 0"/>
</gazebo>
<gazebo reference="right_wheel_link">
<mu1 value="10"/>
<mu2 value="10"/>
<kp value="100000000.0"/>
<kd value="10000.0"/>
<fdir value="1 0 0"/>
</gazebo>
<gazebo reference="rear_wheel_link">
<mu1 value="0"/>
<mu2 value="0"/>
<kp value="100000000.0"/>
<kd value="10000.0"/>
</gazebo>
<gazebo reference="front_wheel_link">
<mu1 value="0"/>
<mu2 value="0"/>
<kp value="100000000.0"/>
<kd value="10000.0"/>
</gazebo>
</xacro:macro>
</robot>
