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MrBearing · Sep 25, 2023 · ff2e795 · ff2e795
1 parent 7fd0c33
commit ff2e795
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Showing 4 changed files with 42 additions and 10 deletions.
diff --git a/sanehal_bringup/launch/view_robot.launch.py b/sanehal_bringup/launch/view_robot.launch.py
@@ -34,7 +34,7 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="diffbot.urdf.xacro",
+            default_value="diffbot_display.urdf.xacro",
             description="URDF/XACRO description file with the robot.",
         )
     )
@@ -43,7 +43,7 @@ def generate_launch_description():
             "prefix",
             default_value='""',
             description="Prefix of the joint names, useful for \
-        multi-robot setup. If changed than also joint names in the controllers' configuration \
+        multi-robot setup. If changed than also joint names in the controllers configuration \
         have to be updated.",
         )
     )

diff --git a/sanehal_vehicle_description/urdf/diffbot.urdf.xacro b/sanehal_vehicle_description/urdf/diffbot.urdf.xacro
@@ -11,8 +11,14 @@
   <!-- Import diffbot ros2_control description -->
   <xacro:include filename="$(find sanehal_vehicle_description)/ros2_control/diffbot.ros2_control.xacro" />
 
-  <xacro:diffbot prefix="$(arg prefix)" />
-
+  <link name="$(arg prefix)base_link" />
+  <xacro:diffbot
+      prefix="$(arg prefix)"
+      parent="$(arg prefix)base_link">
+    <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+  </xacro:diffbot>
   <xacro:diffbot_ros2_control
     name="Sanehal" prefix="$(arg prefix)" />
 

diff --git a/sanehal_vehicle_description/urdf/diffbot.xacro b/sanehal_vehicle_description/urdf/diffbot.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
   <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- ロボットの表示を行う本体部分 -->
-    <xacro:macro name="diffbot" params="prefix parent">
+    <xacro:macro name="diffbot" params="prefix parent *origin">
     <!-- Constants for robot dimensions -->
     <xacro:property name="PI" value="3.1415926535897931"/>
     <xacro:property name="base_mass" value="2.0" /> <!-- arbitrary value for base mass -->
@@ -22,7 +22,7 @@
 
 
     <!-- Base Link -->
-    <link name="${prefix}base_link">
+    <link name="${prefix}sanehal_base_link">
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
@@ -50,7 +50,7 @@
 
     <!-- Lidar sensor-->
     <xacro:ld19
-      parent="${prefix}base_link"
+      parent="${prefix}sanehal_base_link"
       prefix="${prefix}"
       sensor_range_visible="false">
       <origin xyz="0 0 0" rpy="0 0 0" />
@@ -138,26 +138,33 @@
     </link>
 
     <!-- joints -->
+
     <joint
+        name="${prefix}base_joint"
+        type="fixed">
+      <parent link="${parent}" />
+      <child link="${prefix}sanehal_base_link" />
+      <xacro:insert_block name="origin" />
+    </joint>
 
     <joint name="${prefix}left_wheel_joint" type="continuous">
-      <parent link="${prefix}base_link"/>
+      <parent link="${prefix}sanehal_base_link"/>
       <child link="${prefix}left_wheel"/>
       <origin xyz="${wheel_x_offset} ${base_width/2} ${z_offset}" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <dynamics damping="0.2"/>
     </joint>
 
     <joint name="${prefix}right_wheel_joint" type="continuous">
-      <parent link="${prefix}base_link"/>
+      <parent link="${prefix}sanehal_base_link"/>
       <child link="${prefix}right_wheel"/>
       <origin xyz="${wheel_x_offset} -${base_width/2} ${z_offset}" rpy="0 0 ${PI}"/>
       <axis xyz="0 1 0"/>
       <dynamics damping="0.2"/>
     </joint>
 
     <joint name="${prefix}caster_rear_wheel_joint" type="fixed">
-      <parent link="${prefix}base_link"/>
+      <parent link="${prefix}sanehal_base_link"/>
       <child link="${prefix}caster_rear_wheel"/>
       <origin xyz="${-base_width/2 + caster_wheel_radius} 0 ${z_offset}" rpy="0 0 0"/>
     </joint>

diff --git a/sanehal_vehicle_description/urdf/diffbot_display.urdf.xacro b/sanehal_vehicle_description/urdf/diffbot_display.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<!-- Basic differential drive mobile base -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="diffdrive_robot">
+  <xacro:arg name="prefix" default="" />
+  <!-- Import Rviz colors -->
+  <xacro:include filename="$(find sanehal_vehicle_description)/gazebo/diffbot.materials.xacro" />
+
+  <xacro:include filename="$(find sanehal_vehicle_description)/urdf/diffbot.xacro" />
+
+  <link name="$(arg prefix)base_link" />
+  <xacro:diffbot
+      prefix="$(arg prefix)"
+      parent="$(arg prefix)base_link">
+    <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+  </xacro:diffbot>
+
+</robot>