Stworzenie urdfa dla meldoga

src/meldog_simple_description/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(meldog_simple_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(xacro REQUIRED)
+find_package(urdf REQUIRED)
+find_package(rviz2 REQUIRED)
+find_package(robot_state_publisher REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+install(DIRECTORY 
+  test_controllers
+  description 
+  launch 
+  worlds 
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/meldog_simple_description/LICENSE

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src/meldog_simple_description/description/gazebo/gazebo_macros.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "gazebo_macros">
+
+
+    <!-- Gazebo macro for links -->
+    <xacro:property name="kp_value" value="25000.0"/>
+    <xacro:property name="kd_value" value="0.15"/>
+    <xacro:property name="mu2_value" value="0.9"/>
+    <xacro:property name="mu2_value" value="0.9"/>
+    <xacro:property name="maxVel_value" value="0.25"/>
+    <xacro:property name="dampingFactor_value" value="0.00"/>
+
+    <xacro:macro name="gazebo_link" params="link_name color selfCollide_value">
+        <gazebo reference="${link_name}_link">
+            <material>Gazebo/${color}</material>
+            <mu1 value="${mu2_value}"/>
+            <mu2 value="${mu2_value}"/>
+            <kp value="${kp_value}" />
+            <kd value="${kd_value}" />
+            <maxVel value="${maxVel_value}"/>
+            <dampingFactor value="${dampingFactor_value}"/>
+            <selfCollide value="${selfCollide_value}"/>
+        </gazebo>
+    </xacro:macro>
+
+
+    <!-- Gazebo macro for joints -->
+    <xacro:property name="implicitSpringDamper_value" value="true"/>
+    <xacro:property name="springStiffness_value" value="0.0"/>
+    <xacro:property name="springReference_value" value="0.0"/>
+    <xacro:property name="stopErp_value" value="0.0"/>
+    <xacro:property name="stopCfm_value" value="0.0"/> 
+
+    <xacro:macro name="gazebo_joint" params="joint_name">
+        <gazebo reference="${joint_name}_joint">
+            <implicitSpringDamper>${implicitSpringDamper_value}</implicitSpringDamper>
+            <springStiffness>${springStiffness_value}</springStiffness>
+            <springReference>${springReference_value}</springReference>
+            <stopErp>${stopErp_value}</stopErp>
+            <stopCfm>${stopCfm_value}</stopCfm>
+        </gazebo> 
+    </xacro:macro>  
+
+
+</robot>

src/meldog_simple_description/description/joints/joint_macros.urdf.xacro

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_macros">
+
+    <!-- Joint macro for limits and dynamics -->
+    <xacro:macro name ="joint_macro" params="lower upper">
+        <limit lower="${lower}" upper="${upper}" effort="${joint_max_torque}" velocity="${joint_max_velocity}"/>
+        <dynamics damping="${joint_damping}" friction="${joint_friction}"/>
+    </xacro:macro>
+
+</robot>

src/meldog_simple_description/description/joints/joint_properties.urdf.xacro

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name = "joint_properties"> 
+
+    <!-- Limits for joints (lower and upper position) -->
+    <xacro:property name="H_lower_limit" value="-${PI/2}"/>
+    <xacro:property name="H_upper_limit" value="${PI/2}"/>
+    <xacro:property name="T_lower_limit" value="-${PI}"/>
+    <xacro:property name="T_upper_limit" value="${PI}"/>
+    <xacro:property name="S_lower_limit" value="-${5*PI/6}"/>
+    <xacro:property name="S_upper_limit" value="${5*PI/6}"/>
+
+    <!-- Limits for joints (velocity, torque)-->
+    <xacro:property name="joint_max_velocity" value="20.2"/>
+    <xacro:property name="joint_max_torque" value="30"/>
+
+    <!-- Joint dynamic properties -->
+    <xacro:property name="joint_damping" value="0.0"/>
+    <xacro:property name="joint_friction" value="0.0"/>
+
+</robot>

src/meldog_simple_description/description/links/feet/feet.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name ="meldog_feet">
+
+    <!-- Meldog feet (simple spheres) -->
+    <xacro:property name="feet_radius" value="0.06"/>
+    <xacro:property name="feet_mass" value="0.1"/>
+
+    <xacro:macro name="feet_link" params="position">
+        <link name="feet_${position}_link">
+             <inertial>
+                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+                <mass value="${feet_mass}"/>
+                <inertia ixx="${2/5*feet_mass*feet_radius*feet_radius}" ixy="0.0" ixz="0.0" iyy="${2/5*feet_mass*feet_radius*feet_radius}" iyz="0.0" izz="${2/5*feet_mass*feet_radius*feet_radius}"/>
+            </inertial>
+
+            <visual name="feet_visual">
+                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+                <geometry>
+                    <sphere radius="${feet_radius}"/>
+                </geometry>
+                <material name="">
+                    <color rgba="1.0 0.0 1.0 1.0"/>
+                </material>
+            </visual>
+
+            <collision name="feet_collision">
+                <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+                <geometry>
+                    <sphere radius="${feet_radius}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:macro>
+</robot>