324 lines
11 KiB
Plaintext
324 lines
11 KiB
Plaintext
|
<?xml version="1.0"?>
|
|||
|
|
<robot name="cyber_dog" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|||
|
|
|
|||
|
|
<xacro:arg name="ROBOT" default="cyber_dog" />
|
|||
|
|
<xacro:arg name="USE_LIDAR" default="true" />
|
|||
|
|
<xacro:include filename="const.xacro" />
|
|||
|
|
<xacro:include filename="leg.xacro" />
|
|||
|
|
<xacro:include filename="gazebo.xacro" />
|
|||
|
|
|
|||
|
|
<link name="base_link">
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.001 0.001 0.001" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<joint name="floating_base" type="fixed">
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<parent link="base_link" />
|
|||
|
|
<child link="body" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="body">
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<mesh filename="file://$(find cyberdog_description)/meshes/body.dae" scale="1 1 1" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="${body_length} ${body_width} ${body_height}" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
<inertial>
|
|||
|
|
<origin rpy="0 0 0" xyz="${body_com_x} ${body_com_y} ${body_com_z}" />
|
|||
|
|
<mass value="${body_mass}" />
|
|||
|
|
<inertia ixx="${body_ixx}" ixy="${body_ixy}" ixz="${body_ixz}" iyy="${body_iyy}" iyz="${body_iyz}" izz="${body_izz}" />
|
|||
|
|
</inertial>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<joint name="imu_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="imu_link" />
|
|||
|
|
<origin rpy="0 0 0" xyz="33.4e-3 -17.2765e-3 51.0469e-3" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="imu_link">
|
|||
|
|
<inertial>
|
|||
|
|
<mass value="0.001" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
|
|||
|
|
</inertial>
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.001 0.001 0.001" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size=".001 .001 .001" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<joint name="scan_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="lidar_link" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0.21425 0 0.0908" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="lidar_link">
|
|||
|
|
<inertial>
|
|||
|
|
<mass value="0.001" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
|
|||
|
|
</inertial>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
<gazebo reference="lidar_link">
|
|||
|
|
<!-- 添加激光雷达传感器 -->
|
|||
|
|
<sensor name="realsense" type="ray">
|
|||
|
|
|
|||
|
|
<always_on>true</always_on>
|
|||
|
|
<visualize>true</visualize>
|
|||
|
|
<pose>0.0 0 0.0 0 0 0</pose> <!-- 设置传感器相对位置 -->
|
|||
|
|
<ray>
|
|||
|
|
<scan>
|
|||
|
|
<horizontal>
|
|||
|
|
<samples>100</samples> <!-- 水平扫描的样本数 -->
|
|||
|
|
<resolution>1.000000</resolution> <!-- 扫描分辨率 -->
|
|||
|
|
<min_angle>-1.5700</min_angle> <!-- 最小扫描角度 -->
|
|||
|
|
<max_angle>1.5700</max_angle> <!-- 最大扫描角度 -->
|
|||
|
|
</horizontal>
|
|||
|
|
</scan>
|
|||
|
|
<range>
|
|||
|
|
<min>0.1</min> <!-- 激光雷达的最小测距范围 -->
|
|||
|
|
<max>12.0</max> <!-- 激光雷达的最大测距范围 -->
|
|||
|
|
<resolution>0.015000</resolution> <!-- 距离分辨率 -->
|
|||
|
|
</range>
|
|||
|
|
|
|||
|
|
|
|||
|
|
<noise>
|
|||
|
|
<type>gaussian</type>
|
|||
|
|
<mean>0.0</mean> <!-- 噪声的均值，通常为 0 -->
|
|||
|
|
<stddev>0.015</stddev> <!-- 噪声的标准差，值越大，噪声越大 -->
|
|||
|
|
</noise>
|
|||
|
|
</ray>
|
|||
|
|
|
|||
|
|
|
|||
|
|
<plugin name="Cyberdog_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
|||
|
|
<ros>
|
|||
|
|
<remapping>~/out:=scan</remapping>
|
|||
|
|
</ros>
|
|||
|
|
|
|||
|
|
<output_type>sensor_msg/LaserScan</output_type>
|
|||
|
|
<frame_name>lidar_link</frame_name>
|
|||
|
|
</plugin>
|
|||
|
|
|
|||
|
|
|
|||
|
|
</sensor>
|
|||
|
|
</gazebo>
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
<joint name="D435_camera_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="D435_camera_link" />
|
|||
|
|
<origin rpy="0 0 0" xyz="271.994e-3 25e-3 114.912e-3" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="D435_camera_link">
|
|||
|
|
<inertial>
|
|||
|
|
<mass value="0.001" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
|
|||
|
|
</inertial>
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.001 0.001 0.001" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size=".001 .001 .001" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<joint name="RGB_camera_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="RGB_camera_link" />
|
|||
|
|
<origin rpy="0 0 0" xyz="275.76e-3 0 125.794e-3" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="RGB_camera_link">
|
|||
|
|
<inertial>
|
|||
|
|
<mass value="0.001" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
|
|||
|
|
</inertial>
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.001 0.001 0.001" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size=".001 .001 .001" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<!-- 定义一个Gazebo模型中的相机传感器，连接到名为"RGB_camera_link"的连杆上 -->
|
|||
|
|
<gazebo reference="RGB_camera_link">
|
|||
|
|
<!-- 传感器定义：类型为相机，名称为"rgb camera" -->
|
|||
|
|
<sensor type="camera" name="rgb camera">
|
|||
|
|
<!-- 设置传感器始终开启（即使没有订阅者也会发布数据） -->
|
|||
|
|
<always_on>true</always_on>
|
|||
|
|
<!-- 设置传感器更新频率为15Hz（每秒15帧） -->
|
|||
|
|
<update_rate>15.0</update_rate>
|
|||
|
|
|
|||
|
|
<!-- 相机具体参数配置 -->
|
|||
|
|
<camera name="rgb_camera">
|
|||
|
|
<!-- 设置水平视场角为1.46608弧度（约84度） -->
|
|||
|
|
<horizontal_fov>1.46608</horizontal_fov>
|
|||
|
|
|
|||
|
|
<!-- 图像参数配置 -->
|
|||
|
|
<image>
|
|||
|
|
<!-- 图像分辨率：宽度320像素 -->
|
|||
|
|
<width>1920</width>
|
|||
|
|
<!-- 图像分辨率：高度180像素 -->
|
|||
|
|
<height>1080</height>
|
|||
|
|
<!-- 图像格式：RGB三通道，每通道8位 -->
|
|||
|
|
<format>R8G8B8</format>
|
|||
|
|
</image>
|
|||
|
|
|
|||
|
|
<!-- 镜头畸变参数配置 -->
|
|||
|
|
<distortion>
|
|||
|
|
<!-- 径向畸变系数k1 -->
|
|||
|
|
<k1>0.0</k1>
|
|||
|
|
<!-- 径向畸变系数k2 -->
|
|||
|
|
<k2>0.0</k2>
|
|||
|
|
<!-- 径向畸变系数k3 -->
|
|||
|
|
<k3>0.0</k3>
|
|||
|
|
<!-- 切向畸变系数p1 -->
|
|||
|
|
<p1>0.0</p1>
|
|||
|
|
<!-- 切向畸变系数p2 -->
|
|||
|
|
<p2>0.0</p2>
|
|||
|
|
<!-- 畸变中心坐标（归一化坐标，0.5表示图像中心） -->
|
|||
|
|
<center>0.5 0.5</center>
|
|||
|
|
</distortion>
|
|||
|
|
</camera>
|
|||
|
|
|
|||
|
|
<!-- Gazebo ROS相机插件配置 -->
|
|||
|
|
<plugin name="rgb_camera_plugin" filename="libgazebo_ros_camera.so">
|
|||
|
|
<!-- ROS相关配置 -->
|
|||
|
|
<ros>
|
|||
|
|
<!-- 可选的命名空间配置（当前被注释掉） -->
|
|||
|
|
<!-- <namespace>stereo</namespace> -->
|
|||
|
|
|
|||
|
|
<!-- 重映射话题名称 -->
|
|||
|
|
<remapping>~/image_raw:=image_raw</remapping> <!-- 原始图像数据话题 -->
|
|||
|
|
<remapping>~/camera_info:=camera_info</remapping> <!-- 相机信息话题 -->
|
|||
|
|
</ros>
|
|||
|
|
|
|||
|
|
<!-- 设置相机名称（ROS中使用），如果为空则默认使用传感器名称 -->
|
|||
|
|
<camera_name>rgb_camera</camera_name>
|
|||
|
|
|
|||
|
|
<!-- 设置TF坐标系名称，如果为空则默认使用link名称 -->
|
|||
|
|
<frame_name>RGB_camera_link</frame_name>
|
|||
|
|
|
|||
|
|
<!-- 用于立体相机的基线距离（单位：米），单目相机通常不需要 -->
|
|||
|
|
<hack_baseline>0.2</hack_baseline>
|
|||
|
|
</plugin>
|
|||
|
|
</sensor>
|
|||
|
|
</gazebo>
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
<joint name="AI_camera_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="AI_camera_link" />
|
|||
|
|
<origin rpy="0 0 0" xyz="290.228e-3 0 147.420e-3" />
|
|||
|
|
</joint>
|
|||
|
|
|
|||
|
|
<link name="AI_camera_link">
|
|||
|
|
<inertial>
|
|||
|
|
<mass value="0.001" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
|
|||
|
|
</inertial>
|
|||
|
|
<visual>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.001 0.001 0.001" />
|
|||
|
|
</geometry>
|
|||
|
|
</visual>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size=".001 .001 .001" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
<xacro:leg name="FR" mirror="-1" mirror_dae="False" front_hind="1" front_hind_dae="True">
|
|||
|
|
<origin rpy="0 0 0" xyz="${abad_offset_x} ${-abad_offset_y} 0" />
|
|||
|
|
</xacro:leg>
|
|||
|
|
|
|||
|
|
<xacro:leg name="FL" mirror="1" mirror_dae="True" front_hind="1" front_hind_dae="True">
|
|||
|
|
<origin rpy="0 0 0" xyz="${abad_offset_x} ${abad_offset_y} 0" />
|
|||
|
|
</xacro:leg>
|
|||
|
|
|
|||
|
|
<xacro:leg name="RR" mirror="-1" mirror_dae="False" front_hind="-1" front_hind_dae="False">
|
|||
|
|
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${-abad_offset_y} 0" />
|
|||
|
|
</xacro:leg>
|
|||
|
|
|
|||
|
|
<xacro:leg name="RL" mirror="1" mirror_dae="True" front_hind="-1" front_hind_dae="False">
|
|||
|
|
<origin rpy="0 0 0" xyz="${-abad_offset_x} ${abad_offset_y} 0" />
|
|||
|
|
</xacro:leg>
|
|||
|
|
|
|||
|
|
<!-- This link is only for head collision -->
|
|||
|
|
<joint name="head_joint" type="fixed">
|
|||
|
|
<parent link="body" />
|
|||
|
|
<child link="head" />
|
|||
|
|
<origin rpy="0 0 0" xyz="0 0 0" />
|
|||
|
|
</joint>
|
|||
|
|
<link name="head">
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0.256 0 0.120" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.076 0.060 0.040" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
<collision>
|
|||
|
|
<origin rpy="0 0 0" xyz="0.225 0 0.150" />
|
|||
|
|
<geometry>
|
|||
|
|
<box size="0.020 0.080 0.100" />
|
|||
|
|
</geometry>
|
|||
|
|
</collision>
|
|||
|
|
</link>
|
|||
|
|
|
|||
|
|
</robot>
|