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Use mesh in the Webots model #22

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Use mesh in the Webots model #22

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3 changes: 3 additions & 0 deletions .vscode/settings.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
{
"ros.distro": "humble"
}
1 change: 1 addition & 0 deletions docker/bashrc
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Expand Up @@ -2,3 +2,4 @@ source /opt/ros/humble/setup.bash
source /${DOCKERUSER}/ros2_ws/install/local_setup.bash
source /${DOCKERUSER}/ros2_libs_ws/install/local_setup.bash
alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug'
export USERNAME='default'
61 changes: 60 additions & 1 deletion spesbot_description/urdf/mobile_base.xacro
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Expand Up @@ -8,6 +8,17 @@
filename="package://spesbot_description/urdf/meshes/mobile_base.stl" />
</geometry>
</visual>
<collision>
<geometry>
<origin xyz="-0.15 0 0" rpy="0 0 0" />
<box size="0.4 0.3 0.02" />
</geometry>
</collision>
<inertial>
<mass value="5.0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
</inertial>
</link>
<joint name="left_motor" type="continuous">
<parent link="base_link" />
Expand All @@ -22,6 +33,17 @@
filename="package://spesbot_description/urdf/meshes/wheel.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0.03 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.085" length="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="2.0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="right_motor" type="continuous">
<parent link="base_link" />
Expand All @@ -37,6 +59,17 @@
</geometry>
<origin xyz="0 0 0" rpy="0 0 3.14159" />
</visual>
<collision>
<origin xyz="0 -0.03 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.085" length="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="2.0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="caster_steering_joint" type="continuous">
<parent link="base_link" />
Expand All @@ -51,6 +84,17 @@
filename="package://spesbot_description/urdf/meshes/caster_holder.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder radius="0.03" length="0.01"/>
</geometry>
</collision>
<inertial>
<mass value="0.3" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<joint name="caster_wheel_joint" type="continuous">
<parent link="caster_holder_link" />
Expand All @@ -65,6 +109,21 @@
filename="package://spesbot_description/urdf/meshes/caster_wheel.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.5707 0 0" />
<geometry>
<cylinder radius="0.033" length="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="2.0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>

<gazebo reference="caster_wheel_link">
<material>Gazebo/Black</material>
</gazebo>
</xacro:macro>
</robot>
</robot>
7 changes: 7 additions & 0 deletions spesbot_webots/README.md
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# SpesBot Webots Simulation

Regenerate the Webots model:
```bash
pip3 install urdf2webots
xacro ${HOME}/ros2_ws/src/spesbot/spesbot_description/urdf/spesbot.xacro | python3 -m urdf2webots.importer --output=${HOME}/ros2_ws/src/spesbot/spesbot_webots/data/protos/SpesBot.proto --tool-slot=base_link
```
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