MYRAbot model for simulation (urdf+gazebo)
From robotica.unileon.es
Components of MYRAbot model
We have started creating a model of the MYRAbot's structure and we have added the mobile base Roomba, the kinect camera, the arm model and the webcam Logitech Webcam Pro 9000.
First, we will create a new package with the necessary dependences for our programs (urdf std_msgs sensor_msgs tf roscpp). We will execute the next commands in a terminal:
cd ~/ros_workspace
roscreate-pkg myrabot_fer_modelo urdf std_msgs sensor_msgs tf roscppURDF MYRAbot's structure
We have made the 3D model of the structure with a CAD software from which we use the parts with a complex geometry.
3D CAD design of MYRAbot's structure
We have divided the model in two files, main file and macros file. For the main file, we will create a file named "estructura-myrabot.xacro" within the folder "urdf" of the created package with the content that is shown below:
<?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="ultrasonidos" type="fixed">
<parent link="e_base_2_link"/>
<child link="e_ultrasonidos_link"/>
<origin xyz="0 0 0.02" rpy="0 0 0" />
</joint>
<link name="e_ultrasonidos_link">
<inertial>
<mass value="0.04"/>
<origin rpy="0 0 0" xyz="0.0 0.0 ${0.04/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.160 -0.135 0"/>
<geometry>
<mesh filename="package://myrabot_robot_model/meshes/e_ultrasonidos.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.160 -0.135 0"/>
<geometry>
<mesh filename="package://myrabot_robot_model/meshes/e_ultrasonidos.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>
We will add the next files within the folder "meshes" of our package:
- e_pilar.stl
- e_base_kinect.stl
- e_base_brazo_1.stl
- e_base_brazo_2.stl
- e_soporte_1.stl
- e_soporte_2.stl
- e_monitor.stl
- e_ultrasonidos.stl
For the macros file, we will create a file named "estructura-myrabot-macros.xacro" within the folder "urdf" of our package with the content that is shown below:
<?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/${material}</material>
<mu1>0.5</mu1>
<mu2>0.5</mu2>
<selfCollide>true</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</macro>
</robot>
URDF Roomba
We have used the model of the mobile base create of the robot turtlebot, because the vacuum Roomba has similar sensors and physics. We have to install the stacks turtlebot and turtlebot_simulator that contain the robot model and the plugins for gazebo. We have divided the model in two files, main file and plugins file. For the main file, we will create a file named "roomba.xacro" within the folder "urdf" of the created package with the content that is shown below:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<include filename="$(find myrabot_fer_modelo)/urdf/roomba-gazebo.xacro"/>
<xacro:macro name="roomba">
<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 ${0.063/2}" />
<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 ${0.063/2}" rpy="0 0 0" />
<geometry>
<cylinder length="0.063" radius="0.17"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 ${0.063/2}" rpy="0 0 0" />
<geometry>
<cylinder length="0.063" 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 0.57" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser" />
</joint>
<link name="laser" />
<gaezebo>
<material>Gazebo/White</material>
</gaezebo>
<myrabot_sim_imu/>
<myrabot_sim_laser/>
<myrabot_sim_roomba/>
<myrabot_sim_wall_sensors/>
</xacro:macro>
</robot>
For the plugins file, we will create a file named "roomba-gazebo.xacro" within the folder "urdf" of our package with the content that is shown below:
<?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="myrabot_sim_imu">
<gazebo>
<controller:gazebo_ros_imu name="imu_controller" plugin="libgazebo_ros_imu.so">
<robotNamespace>/</robotNamespace>
<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="myrabot_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>-${60/2}</minAngle>
<maxAngle>${60/2}</maxAngle>
<minRange>0.08</minRange>
<maxRange>5.0</maxRange>
<resRange>0.01</resRange>
<updateRate>20</updateRate>
<controller:gazebo_ros_laser name="gazebo_ros_laser_controller" plugin="libgazebo_ros_laser.so">
<robotNamespace>/</robotNamespace>
<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="myrabot_sim_roomba">
<gazebo>
<controller:gazebo_ros_roomba name="roomba_controller" plugin="libgazebo_ros_roomba.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_roomba>
</gazebo>
</xacro:macro>
<xacro:macro name="myrabot_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>
URDF kinect
We will create a file named "kinect.xacro" within the folder "urdf" of our package with the content that is shown below:
<?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">
<property name="M_PI" value="3.14159"/>
<xacro:macro name="kinect" params="parent *origin">
<joint name="base_camera_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}" />
<child link="camera_link" />
</joint>
<link name="camera_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/kinect.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/kinect.dae"/>
</geometry>
</collision>
</link>
<joint name="camera_depth_joint" type="fixed">
<origin xyz="0 0.018 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_depth_frame" />
</joint>
<link name="camera_depth_frame">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="camera_depth_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_depth_frame" />
<child link="camera_depth_optical_frame" />
</joint>
<link name="camera_depth_optical_frame">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0 -0.005 0" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_rgb_frame" />
</joint>
<link name="camera_rgb_frame">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_rgb_frame" />
<child link="camera_rgb_optical_frame" />
</joint>
<link name="camera_rgb_optical_frame">
<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>
<gazebo reference="camera_link">
<sensor:camera name="camera">
<imageFormat>R8G8B8</imageFormat>
<imageSize>640 480</imageSize>
<hfov>60</hfov>
<nearClip>0.05</nearClip>
<farClip>5</farClip>
<updateRate>20</updateRate>
<baseline>0.1</baseline>
<controller:gazebo_ros_openni_kinect name="kinect_camera_controller" plugin="libgazebo_ros_openni_kinect.so">
<alwaysOn>true</alwaysOn>
<updateRate>20</updateRate>
<robotNamespace>/</robotNamespace>
<imageTopicName>/camera/image_raw</imageTopicName>
<pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
<cameraInfoTopicName>/camera/camera_info</cameraInfoTopicName>
<frameName>camera_depth_optical_frame</frameName>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
</controller:gazebo_ros_openni_kinect>
</sensor:camera>
</gazebo>
</xacro:macro>
</robot>
