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PerFrivikPerFrivik
committed
intial cleanup
1 parent 3217d0d commit e228d1b

9 files changed

+11
-315
lines changed

‎urdf/sensor_plugins/smb_diff_drive_plugin.urdf.xacro‎

Lines changed: 0 additions & 33 deletions
This file was deleted.

‎urdf/sensor_plugins/smb_imu.gazebo.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -24,9 +24,6 @@
2424
<gazebo reference="${imu_link}">
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<sensor name="imu_sensor" type="imu">
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<gz_frame_id>imu_link</gz_frame_id>
27-
<!-- <frame>imu</frame>
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<gz_frame_id>imu</gz_frame_id> -->
29-
<!-- <pose relative_to='imu'>0 0 0 0 0 0</pose> -->
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<always_on>true</always_on>
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<update_rate>400</update_rate>
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<visualize>true</visualize>
@@ -80,7 +77,6 @@
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<material>Gazebo/Orange</material>
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</gazebo>
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83-
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<gazebo reference="imu_joint">
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<disableFixedJointLumping>true</disableFixedJointLumping>
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</gazebo>

‎urdf/sensor_plugins/smb_lidar.gazebo.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -10,8 +10,6 @@
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<xacro:property name="M_PI" value="3.1415926535897931" />
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<xacro:macro name="LIDAR" params="parent_link simulation">
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<!-- <xacro:if value="${simulation}"> -->
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<!-- Replacing RS-16 with the default Gazebo lidar -->
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<link name="rslidar">
@@ -35,8 +33,6 @@
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<parent link="${parent_link}"/>
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<child link="rslidar"/>
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<origin xyz="0.0 0.0 ${lidarBoxHeight+0.039}" rpy="0 0 0"/>
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<!-- <axis xyz="0 0 1"/> -->
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<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/> -->
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</joint>
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<gazebo reference='${parent_link}_to_rslidar'>
@@ -52,7 +48,6 @@
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<gazebo reference="rslidar">
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<sensor name="rslidar" type="gpu_lidar">
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<!-- <frame>rslidar</frame> -->
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<gz_frame_id>rslidar</gz_frame_id>
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<pose relative_to='rslidar'>0 0 0 0 0 0</pose>
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<topic>scan</topic>
@@ -75,21 +70,17 @@
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<!-- Range settings for RS32 -->
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<range>
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<min>0.2</min> <!-- Minimum detection range -->
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<max>50.0</max> <!-- Maximum detection range; can vary slightly with RS32 models -->
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<resolution>0.01</resolution> <!-- Resolution of 1 cm for high accuracy -->
73+
<min>0.2</min>
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<max>50.0</max>
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<resolution>0.01</resolution>
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</range>
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</ray>
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<!-- Visualization for Gazebo UI -->
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<always_on>1</always_on>
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<visualize>true</visualize>
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</sensor>
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</gazebo>
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90-
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<!-- </xacro:if> -->
92-
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</xacro:macro>
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</robot>

‎urdf/sensor_plugins/smb_odometry.gazebo.xacro‎

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‎urdf/sensor_plugins/smb_odometry.urdf.xacro‎

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‎urdf/sensor_plugins/smb_rgb_camera.gazebo.xacro‎

Lines changed: 0 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -7,27 +7,6 @@
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<xacro:property name="camera_topic" value="/${name}/image_raw" />
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<xacro:property name="camera_info_topic" value="/${name}/camera_info" />
99

10-
<!-- <gazebo> -->
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<!-- <plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin> -->
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<!-- <plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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<render_engine>ogre2</render_engine>
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</plugin> -->
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<!-- <plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
26-
name="gz::sim::systems::SceneBroadcaster">
27-
</plugin> -->
28-
<!-- </gazebo> -->
29-
30-
3110
<gazebo reference="${link_name}">
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<sensor name="camera" type="camera">
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<camera>

‎urdf/sensor_plugins/smb_rgb_camera.urdf.xacro‎

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Original file line numberDiff line numberDiff line change
@@ -61,10 +61,7 @@
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<child link="rgb_camera${id}_optical_link"/>
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</joint>
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64-
<!-- <xacro:if value="${simulation}"> -->
6564
<xacro:rgb_camera_camera_plugin name="rgb_camera" link_name="${rgb_camera_link}" rate="${rgb_camera_update_rate}"/>
66-
<!-- </xacro:if> -->
67-
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</xacro:macro>
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</robot>

‎urdf/smb.urdf.xacro‎

Lines changed: 8 additions & 50 deletions
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@
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</plugin>
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</gazebo>
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30-
<xacro:macro name="wheel" params="prefix reflect X friction_coeff:=0.2">
30+
<xacro:macro name="wheel" params="prefix reflect X ">
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<joint name="${prefix}_WHEEL_JOINT" type="continuous">
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<parent link="${base_link_name}" />
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<child link="${prefix}_WHEEL" />
@@ -57,15 +57,13 @@
5757
</inertial>
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</link>
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60-
<!-- Add joint controller for this wheel -->
6160
<gazebo>
6261
<plugin filename="gz-sim-joint-controller-system" name="gz::sim::systems::JointController">
6362
<joint_name>${prefix}_WHEEL_JOINT</joint_name>
6463
<topic>${prefix}_WHEEL_JOINT_velocity_cmd</topic>
65-
<!-- <control_type>velocity</control_type> -->
66-
<p_gain>0.0</p_gain> <!-- Proportional gain -->
67-
<i_gain>0.0</i_gain> <!-- Integral gain -->
68-
<d_gain>5.0</d_gain> <!-- Derivative gain -->
64+
<p_gain>0.0</p_gain>
65+
<i_gain>0.0</i_gain>
66+
<d_gain>5.0</d_gain>
6967
</plugin>
7068
</gazebo>
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</xacro:macro>
@@ -109,32 +107,6 @@
109107
</inertial>
110108
</link>
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112-
<joint name="base_footprint_to_base_link" type="fixed">
113-
<parent link="${base_link_name}"/>
114-
<child link="base_footprint"/>
115-
<origin xyz="0 0 0" rpy="0 0 0"/>
116-
</joint>
117-
118-
<link name="base_footprint">
119-
<inertial>
120-
<origin xyz="0 0 0" rpy="0 0 0"/>
121-
<mass value="0.1"/>
122-
<xacro:box_inertia m="${chassisMass}"
123-
x="${chassisLength}"
124-
y="${chassisWidth}"
125-
z="${chassisHeight}"/>
126-
</inertial>
127-
<visual>
128-
<origin xyz="0 0 0" rpy="0 0 0"/>
129-
<geometry>
130-
<box size="0.1 0.1 0.1"/>
131-
</geometry>
132-
<material name="base_material">
133-
<color rgba="0.8 0.0 0.1 1.0"/>
134-
</material>
135-
</visual>
136-
</link>
137-
138110
<link name="top">
139111
<collision>
140112
<origin xyz="${topXOffset} 0 0" rpy="0 0 0"/>
@@ -161,24 +133,16 @@
161133
<joint name="top_to_base_link" type="fixed">
162134
<parent link="${base_link_name}"/>
163135
<child link="top"/>
164-
<!-- <origin xyz="${topXOffset/2.0} 0.0 ${chassisHeight/2.0 + topHeight/2.0}" rpy="0 0 0"/> -->
165136
<origin xyz="0.0 0.0 ${chassisHeight/2.0}" rpy="0 0 0"/>
166137
</joint>
167138

168139
</xacro:macro>
169140

170-
<!-- urdf -->
171-
172141
<xacro:chassis />
173-
174-
<xacro:wheel prefix="LF" X="${frontWheelX}" reflect="1" friction_coeff="0.85" />
175-
176-
<xacro:wheel prefix="RF" X="${frontWheelX}" reflect="-1" friction_coeff="0.85" />
177-
178-
<xacro:wheel prefix="LH" X="${backWheelX}" reflect="1" friction_coeff="0.85" />
179-
180-
<xacro:wheel prefix="RH" X="${backWheelX}" reflect="-1" friction_coeff="0.85" />
181-
142+
<xacro:wheel prefix="LF" X="${frontWheelX}" reflect="1" />
143+
<xacro:wheel prefix="RF" X="${frontWheelX}" reflect="-1" />
144+
<xacro:wheel prefix="LH" X="${backWheelX}" reflect="1" />
145+
<xacro:wheel prefix="RH" X="${backWheelX}" reflect="-1" />
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183147
<xacro:IMU base_link="${base_link_name}" simulation="${simulation}"/>
184148

@@ -189,10 +153,4 @@
189153
<xacro:lidar_mount base_link="${base_link_name}"/>
190154
<xacro:LIDAR parent_link="lidar_mount_link" simulation="${simulation}"/>
191155

192-
<xacro:REALSENSE_T265 base_link="base_link"
193-
t265_origin_xyz="0.309 0.008 0.352"
194-
t265_origin_rpy="0 0 0"
195-
simulation="True"/>
196-
197-
198156
</robot>

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