Difference between revisions of "Modelo para simulación MYRAbot (urdf+gazebo)"

From robotica.unileon.es
Jump to: navigation, search
(→‎Modelo del MYRAbot)
(→‎URDF Roomba)
Line 611: Line 611:
 
===URDF Roomba===
 
===URDF Roomba===
  
−
Para la base móvil [http://store.irobot.com/family/index.jsp?categoryId=3358508&s=A-ProductAge Roomba] se ha empleado el modelo del turtlebot, aunque equipado con una base móvil [http://store.irobot.com/family/index.jsp?categoryId=2591511&s=A-ProductAge create], esta tiene unas físicas y sensores similares a la nuestra. Para esto necesitamos instalar los ''stacks'' [http://wiki.ros.org/turtlebot turtlebot] y [http://wiki.ros.org/turtlebot_simulator turtlebot_simulator], que contienen el modelo y los ''plugins'' para [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo], respectivamente.
+
Para la base móvil [http://store.irobot.com/family/index.jsp?categoryId=3358508&s=A-ProductAge Roomba] se ha empleado el modelo del [http://www.turtlebot.com/ turtlebot], aunque equipado con una base móvil [http://store.irobot.com/family/index.jsp?categoryId=2591511&s=A-ProductAge create], esta tiene unas físicas y sensores similares a la nuestra. Para esto necesitamos instalar los ''stacks'' [http://wiki.ros.org/turtlebot turtlebot] y [http://wiki.ros.org/turtlebot_simulator turtlebot_simulator], que contienen el modelo y los ''plugins'' para [http://wiki.ros.org/simulator_gazebo?distro=electric gazebo], respectivamente. Eliminando lo que no necesitamos del modelo del [http://www.turtlebot.com/ 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:
 +
 
 +
<syntaxhighlight lang="xml">
 +
 
 +
<?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>
 +
  <!-- fixed because there's no transmission -->
 +
  <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>
 +
 
 +
  <!-- fixed because there's no transmission -->
 +
  <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> 
 +
 
 +
 
 +
<syntaxhighlight>
  
 
[[Mobile manipulation | < volver a principal]]
 
[[Mobile manipulation | < volver a principal]]

Revision as of 19:40, 11 November 2013

Modelo del MYRAbot

Se ha realizado un modelo de la estructura del MYRAbot a le que se le ha integrado 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:

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:

<syntaxhighlight lang="xml">

<?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>


<syntaxhighlight>

< volver a principal

Retrieved from "https://robotica.unileon.es/index.php?title=Modelo_para_simulación_MYRAbot_(urdf%2bgazebo)&oldid=2080"