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Ros2 change wheels mount point #492

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Ros2 change wheels mount point #492

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1f04313
use wheel mount point instead of wheel separation
KmakD Feb 5, 2025
1685087
Update Lynx meshes
KmakD Feb 5, 2025
6296619
fix dimensions
KmakD Feb 5, 2025
421af92
adjust COM
KmakD Feb 6, 2025
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2 changes: 1 addition & 1 deletion husarion_ugv_description/config/WH01.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
wheel_radius: 0.1825
wheel_width: 0.14
wheel_separation: 0.697
mount_point_offset: 0.091
mass: 3.0
inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
inertia_y_offset: 0.0
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2 changes: 1 addition & 1 deletion husarion_ugv_description/config/WH02.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
wheel_radius: 0.1016
wheel_width: 0.08
wheel_separation: 0.6785
mount_point_offset: 0.08165
mass: 2.4
inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
inertia_y_offset: 0.0
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2 changes: 1 addition & 1 deletion husarion_ugv_description/config/WH04.yaml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
wheel_radius: 0.1016
wheel_width: 0.04
wheel_separation: 0.616
mount_point_offset: 0.06
mass: 0.85
inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
inertia_y_offset: 0.0
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7 changes: 3 additions & 4 deletions husarion_ugv_description/config/WH05.yaml
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Original file line number Diff line number Diff line change
@@ -1,9 +1,8 @@
wheel_radius: 0.1348
wheel_width: 0.09
wheel_separation: 0.45
# TODO change inertia and mass when ready
mass: 2.5
inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 }
mount_point_offset: 0.06
mass: 2.036
inertia: { ixx: 0.014738, iyy: 0.02593, izz: 0.014738 }
inertia_y_offset: 0.0
mesh_package: husarion_ugv_description
folder_path: meshes/WH05
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138 changes: 119 additions & 19 deletions husarion_ugv_description/meshes/WH05/fl_wheel.dae
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138 changes: 119 additions & 19 deletions husarion_ugv_description/meshes/WH05/fr_wheel.dae
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138 changes: 119 additions & 19 deletions husarion_ugv_description/meshes/WH05/rl_wheel.dae
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138 changes: 119 additions & 19 deletions husarion_ugv_description/meshes/WH05/rr_wheel.dae
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