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fetch_gazebo: add casters to fetch.gazebo.xacro #49

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Mar 25, 2019
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fetch_gazebo: add casters to fetch.gazebo.xacro #49

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68 changes: 56 additions & 12 deletions fetch_gazebo/robots/fetch.gazebo.xacro
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Original file line number Diff line number Diff line change
@@ -1,6 +1,50 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fetch" >
<xacro:include filename="$(find fetch_description)/robots/fetch.urdf" />

<!-- Add four casters to the base -->
<xacro:macro name="caster" params="prefix joint_x joint_y">
<link name="${prefix}_caster_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0601"/> <!-- 0.06033 -->
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The value in comments, 0.06033 is the actual value of the wheel, but I've made the caster slightly smaller.

When the values were all the same as the wheel, the wheels did not have enough contact with the ground.

</geometry>
<material name="">
<color rgba="0.086 0.506 0.767 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0601"/>
</geometry>
</collision>
<inertial>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.01"/>
</inertial>
</link>
<gazebo reference="${prefix}_caster_link">
<mu1>0.01</mu1>
<mu2>0.01</mu2>
<kp>100000000</kp>
<kd>10.0</kd>
<maxVel>10</maxVel>
<minDepth>0.001</minDepth>
</gazebo>
<joint name="${prefix}_caster_joint" type="fixed">
<parent link="base_link"/>
<child link="${prefix}_caster_link"/>
<origin rpy="0 0 0" xyz="${joint_x} ${joint_y} 0.055325"/>
<axis xyz="0 1 0"/>
</joint>
</xacro:macro>
<xacro:caster prefix="fl" joint_x="0.15" joint_y="0.12"/>
<xacro:caster prefix="fr" joint_x="0.15" joint_y="-0.12"/>
<xacro:caster prefix="br" joint_x="-0.2" joint_y="0.12"/>
<xacro:caster prefix="bl" joint_x="-0.2" joint_y="-0.12"/>

<!-- Base is modeled as a big tub sitting on floor, with two wheels -->
<gazebo reference="base_link">
<kp>100000000.0</kp>
Expand All @@ -12,23 +56,23 @@
<minDepth>0.0005</minDepth>
</gazebo>
<gazebo reference="r_wheel_link">
<kp>500000.0</kp>
<kd>10.0</kd>
<mu1>10</mu1>
<mu2>10</mu2>
<fdir1>1 0 0</fdir1>
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<!-- <fdir1>1 0 0</fdir1 -->
<maxVel>1.0</maxVel>
<minDepth>0.003</minDepth>
<minDepth>0.01</minDepth>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="l_wheel_link">
<kp>500000.0</kp>
<kd>10.0</kd>
<mu1>10</mu1>
<mu2>10</mu2>
<fdir1>1 0 0</fdir1>
<kp>1000000.0</kp>
<kd>100.0</kd>
<mu1>10.0</mu1>
<mu2>10.0</mu2>
<!-- fdir1>1 0 0</fdir1 -->
<maxVel>1.0</maxVel>
<minDepth>0.003</minDepth>
<minDepth>0.01</minDepth>
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="l_wheel_joint">
Expand Down