From aa840eaba0eb54ed6e311e6f810b0bc3c7d34d94 Mon Sep 17 00:00:00 2001
From: alan le run <alan.lerun@gmail.com>
Date: Fri, 22 Dec 2023 08:48:30 +0100
Subject: [PATCH] robot description changes

---
 .../description/camera.xacro                  | 62 +++++++++++++++++
 src/ezbot_descr_simul/description/lidar.xacro | 66 +++++++++++++++++++
 .../description/robot.urdf.xacro              |  3 +-
 .../description/robot_core.xacro              | 39 +++++------
 4 files changed, 150 insertions(+), 20 deletions(-)
 create mode 100644 src/ezbot_descr_simul/description/camera.xacro
 create mode 100644 src/ezbot_descr_simul/description/lidar.xacro

diff --git a/src/ezbot_descr_simul/description/camera.xacro b/src/ezbot_descr_simul/description/camera.xacro
new file mode 100644
index 0000000..82b45c1
--- /dev/null
+++ b/src/ezbot_descr_simul/description/camera.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+    <joint name="camera_joint" type="fixed">
+        <parent link="chassis"/>
+        <child link="camera_link"/>
+        <origin xyz="0.128 0 0.241" rpy="0 0.18 0"/>
+    </joint>
+
+    <link name="camera_link">
+        <visual>
+            <geometry>
+                <box size="0.010 0.03 0.03"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+        <visual>
+            <origin xyz="0 0 -0.05"/>
+            <geometry>
+                <cylinder radius="0.002" length="0.1"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+    </link>
+
+
+    <joint name="camera_optical_joint" type="fixed">
+        <parent link="camera_link"/>
+        <child link="camera_link_optical"/>
+        <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
+    </joint>
+
+    <link name="camera_link_optical"></link>
+
+
+
+    <gazebo reference="camera_link">
+        <material>Gazebo/Black</material>
+
+        <sensor name="camera" type="camera">
+            <pose> 0 0 0 0 0 0 </pose>
+            <visualize>true</visualize>
+            <update_rate>10</update_rate>
+            <camera>
+                <horizontal_fov>1.089</horizontal_fov>
+                <image>
+                    <format>R8G8B8</format>
+                    <width>640</width>
+                    <height>480</height>
+                </image>
+                <clip>
+                    <near>0.05</near>
+                    <far>8.0</far>
+                </clip>
+            </camera>
+            <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+                <frame_name>camera_link_optical</frame_name>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+</robot>
\ No newline at end of file
diff --git a/src/ezbot_descr_simul/description/lidar.xacro b/src/ezbot_descr_simul/description/lidar.xacro
new file mode 100644
index 0000000..4b8a505
--- /dev/null
+++ b/src/ezbot_descr_simul/description/lidar.xacro
@@ -0,0 +1,66 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+    <joint name="laser_joint" type="fixed">
+        <parent link="chassis"/>
+        <child link="laser_frame"/>
+        <origin xyz="0.055 0 0.41" rpy="0 0 0"/>
+    </joint>
+
+    <link name="laser_frame">
+        <visual>
+            <geometry>
+                <cylinder radius="0.05" length="0.04"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+        <visual>
+            <origin xyz="0 0 -0.05"/>
+            <geometry>
+                <cylinder radius="0.01" length="0.1"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder radius="0.05" length="0.04"/>
+            </geometry>
+        </collision>
+        <xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+        </xacro:inertial_cylinder>
+    </link>
+
+
+
+    <gazebo reference="laser_frame">
+        <material>Gazebo/Black</material>
+
+        <sensor name="laser" type="ray">
+            <pose> 0.055 0 0.03 0 0 0 </pose>
+            <visualize>false</visualize>
+            <update_rate>10</update_rate>
+            <ray>
+                <scan>
+                    <horizontal>
+                        <samples>450</samples>
+                        <min_angle>-3.14</min_angle>
+                        <max_angle>3.14</max_angle>
+                    </horizontal>
+                </scan>
+                <range>
+                    <min>0.05</min>
+                    <max>12</max>
+                </range>
+            </ray>
+            <plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
+                <ros>
+                    <argument>~/out:=scan</argument>
+                </ros>
+                <output_type>sensor_msgs/LaserScan</output_type>
+                <frame_name>laser_frame</frame_name>
+            </plugin>
+        </sensor>
+    </gazebo>
+
+</robot>
diff --git a/src/ezbot_descr_simul/description/robot.urdf.xacro b/src/ezbot_descr_simul/description/robot.urdf.xacro
index 879656c..9688cb7 100644
--- a/src/ezbot_descr_simul/description/robot.urdf.xacro
+++ b/src/ezbot_descr_simul/description/robot.urdf.xacro
@@ -2,7 +2,8 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"  name="robot">
 
     <xacro:include filename="robot_core.xacro" />
-
+    <xacro:include filename="lidar.xacro"/>
     <xacro:include filename="gazebo_control.xacro" />
+    <xacro:include filename="camera.xacro" />
 
 </robot>
\ No newline at end of file
diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
index 1393ae8..d76055a 100644
--- a/src/ezbot_descr_simul/description/robot_core.xacro
+++ b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -26,7 +26,7 @@
     </material>
 
     <link name="base_link">
-    
+
     </link>
 
     <!--Chassis-->
@@ -37,22 +37,23 @@
         <origin xyz="-0.1 0 0"/>
     </joint>
 
+    <!--z=0.06-->
     <link name="chassis">
         <visual>
-            <origin xyz="0.055 0 0.03"/>
+            <origin xyz="0.055 0 0.175"/>
             <geometry>
-                <box size="0.11 0.11 0.06"/>
+                <box size="0.11 0.11 0.35"/>
             </geometry>
             <material name="orange"/>
         </visual>
         <collision>
-            <origin xyz="0.055 0 0.03"/>
+            <origin xyz="0.055 0 0.175"/>
             <geometry>
-                <box size="0.11 0.11 0.06"/>
+                <box size="0.11 0.11 0.35"/>
             </geometry>
         </collision>
-        <xacro:inertial_box mass="0.5" x="0.11" y="0.11" z="0.06">
-            <origin xyz="0.055 0 0.03" rpy="0 0 0"/>
+        <xacro:inertial_box mass="0.5" x="0.11" y="0.11" z="0.35">
+            <origin xyz="0.055 0 0.175" rpy="0 0 0"/>
         </xacro:inertial_box>
     </link>
 
@@ -194,14 +195,14 @@
     </joint>
 
 
-    <link name='roue_droite'>    
-        <visual>  
+    <link name='roue_droite'>
+        <visual>
             <material name="blue"/>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
         </visual>
-        <collision>  
+        <collision>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
@@ -228,14 +229,14 @@
     </joint>
 
 
-    <link name='roue_gauche'>    
-        <visual>  
+    <link name='roue_gauche'>
+        <visual>
             <material name="blue"/>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
         </visual>
-        <collision>  
+        <collision>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
@@ -262,14 +263,14 @@
     </joint>
 
 
-    <link name='roue_avant'>    
-        <visual>  
+    <link name='roue_avant'>
+        <visual>
             <material name="blue"/>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
         </visual>
-        <collision>  
+        <collision>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
@@ -296,14 +297,14 @@
     </joint>
 
 
-    <link name='roue_arriere'>    
-        <visual>  
+    <link name='roue_arriere'>
+        <visual>
             <material name="blue"/>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>
         </visual>
-        <collision>  
+        <collision>
             <geometry>
                 <cylinder radius="0.03" length="0.02"/>
             </geometry>