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